RAM discs require DVD-VR format, and the disc must be UDF 2.0 formatted for the ES10 to read it. Also, some software creates non-standard VR discs that the ES10 may or may not be able to read.
Consult your software manual for creating DVD-VR format discs.
So you need first to format the discs in UDF 2.0, either with InCD or with the Panasonic RAM driver. Then author the discs in VR format, say 3 hail-Marys and hope for the best.
You may find that using DVD-RW discs and DVD-video format will be easier, although the ES10 should, in theory, be able to edit a VR RAM disc.