The 4 things that must happen for a drive to boot are...
1. The BIOS must search the drive's MBR for an Active partition (typically by manually selecting the drive from a one-time-boot menu, also UEFI must be disabled, or your boot menu needs to have an option for legacy boot)
2. One partition on the drive must be marked as Active
3. The active partition must have an OS boot loader installed.
4. The OS must work (it is very possible that XP's boot loader is starting and failing to boot the OS because the drive address is not correct).
You could also edit the Windows 10 boot loader to give you a menu to boot to XP, that would take some googling to get going (search for Windows 7 to get more results the steps should be the same)...