Have you tried all of the remedies listed in the manual? Has this error suddenly appeared after months of acceptable operation or are you just starting it up for the first time?
E10 is bus overvoltage. It is generated when you try to decelerate the load too fast. To be able to decelerate a large load rapidly, you may have a braking resistor installed. The suggestions in the manual are related to checking those aspects of the operation of the drive.