In order to use DPRP (DirectPayment RecurringPayments) you have to get this specifically enabled on your PayPal account. They charge an extra $30/mo for it, too, so you'll end up paying $60/mo in order to utilize this feature.
If that's what you want you just need to call PayPal let them know you'd like to enable DPRP on your account. They'll have you agree to the extra fee, and then they'll enable it for you so this error goes away.