Solution:
1. View /var/log/xrdp-sesman.log
If the error message in the log is:
[20170328-17:17:32] [ERROR] X server -- no display in range is available
2. Modify the upper limit of the maximum session
Change the MaxSessions parameter in the /etc/xrdp/sesmain.ini file from 10 to 100
3. Restart the xrdp service
sudo service xrdp restart
Note: Many articles do not mention the need to restart