So after a lot of troubleshooting with this, I was finally able to get my DCS-5010L working with my DNR-322L! I know this is for the 5020L but as far as I can tell the 5010L and 5020L are similar except one has a Wifi-Repeater so I'm thinking this will also work for you.
Anyways, to get this working, on the DNR-322L go to Setup>Camera Setup>Put in the cameras info, and for Model you must choose the "DCS-933L". After choosing this camera I was able to get my DCS-5010L connected and recording without any problems. The only problem is that I can't control the camera via the DNR-322L because it thinks its a DCS-933L which is a stand-still camera, so it wont give me the functionality to Pan/Tilt. Not that big of a deal as I can just go to the cameras IP address and control it. Best fix I can find until a firmware upgrade comes out that supports the 5010L/5020L on the DNR-322L. Goodluck and hope this fix works for you too!