I have found various documents which may help you with this problem and possible future problems. This page:
Error Codes Kyocera Mita KM1530 Code C710
can find any code connected with Kyocera mita machines by changing the machine and the error code in the appropriate drop down menus. C710 is identified as:
Toner sensor problem
• The sensor output voltage is outside the range of 0.5 to 4.5 V during toner control.
• The toner sensor control voltage cannot be set within the setting range when maintenance item U130 is run.
Defective toner sensor. Poor contact of the toner sensor connector terminals. Developer problem.
Another page showing error codes and their meanings is here;
Kyocera Mita Error Code Messages
and this confirms the above.
Also the link below takes you to a Kyocera web page where you can download various manuals for this machine (KM-1530). By changing the product in the drop down menu to KN-2030 you can get similar manuals for this machine.
In your question you mention "Compatible KP23153 Black Toner Cartridge 106153"
and that led me to wonder if the compatible cartridge is the cause of your C710 error since that is toner related.
Might be worth trying an original cartridge to see if the error goes away.
Hope this is helpful, if so would you please register that with Fixya