That motor looks compatible with the Motor Shield.
how to control a stepper motor with a 0-10Vdc input. All I can find is control by a potentiometer.
Actually, it is very much the same. The potentiometer input needs to be converted to a voltage before the Arduino can measure it.
In the case of your 10v input, we only need to scale that down to an acceptable range for the Arduino - 0-5v. That can be done simply with a resistor voltage divider. You can make one of these with 2 10K resistors. Connect the two resistors in series. Connect one end to ground, one end to your 0-10v signal and connect the mid-point to your analog input.