Hi,
I have no personal experiences with Jenkins building, but you can probably start with installation of plugin.
1) Go to menu Help - > Install New Software. Add and select Juno repository into updater:


At the end of installation you need to restart CodeWarrior and new View is now available (menu Window-> Show View -> others -> Builds.

In this view you should be able to connect to Jenkins build server:


Unfortunatelly I don't have running Jenkins server installed so cannot test the connection.
Hope it helps.
Stan