Not sure about the RPC error but I have had Hyper-V Manager on Windows 10 connecting to a Hyper-V Server 2012 and 2012R2. Not used VMConnect in a stand alone manor.
But you appear with Hyper-V Manager to get a connection? The screenshot and mention of Hyper-V manager start VM not working.
So to get a connection I had configure WinRM on the host. Have to add the host as a Trusted Host on the client. To get permissions to work for remote connect and starting VM's I had to on the machine running Hyper-V manager, Under Component Service > Computers > My Computer > Distributed Transaction Coordinator. Right click Local DTC and Properties. Under Security enable Network DTC Access both and Transaction Manager Communication both.
So try setting Components Services on the machine running Hyper-V Manager, does that help? (also this Does not able to add the hyperV of other win 10 machine from win 10 machine has a couple of links in it to resources that may help)
