There is a sample command in "Getting Started" guide.
fmsadmin certificate create
You would need it in command line.
Thanks, I finally found that with the help of FMI Tech support.
I have the certificate and installed it on the Master server but when I try to install on the worker server I get an error that the private key file does not exist
I solved that issue by moving the private key file to the worker server..
I guess you run certificate create command for worker on master.
How about finding serverKey.pem file on master, then copy it to worker.