Airship Falcon: Expanded

For that example of the guards, Object 10 is the 1st NPC in order on that map (map 013). Use the level editor and check out that map with the NPCs viewable and you'll see 4 guards in the top left corner, the first one there (NPC #1) is going to be object 10 on that map.
NPC 2 is 11, NPC 3 is 12 etc.

The reason the NPCs here need to be created first, even though it is there already on the map, is because that NPC is using a memory bit to have it either be hidden, or shown, depending on event bits being set or cleared. For these NPCs that you place with the level editor, you assign their palette there obviously, but for ones that are created via events like you are trying to do, you will need to create it as one of the playable characters and assign it a palette with the assign palette command: 43 Assign palette $X to character $X (Actor in stot X)

That's why I'm a bit confused of Madsiur's post about possibly not needing to use a PC for creating an NPC outside of having it on the map, I don't see how that could be. And using a PC for an NPC can present problems of course if you have already recruited that character.
I will wait for his response about this because I may have somehow confused myself along the way. Maybe you can just create an NPC object outside of the PC range of 00-0F, after whatever the last NPC is on the map...

Anyways it's all there in the event dump, you should study up from some more examples and have all the event commands handy when you're ready to go in and put in work. So like once you create the object with 3D, then you can assign it a palette, put it at the coordinates you choose using D5 XX YY in an action queue, and then finally show it with 41 XX, the show object command.

Hope this helps a bit, I'm happy to help out anyway I can, I really like to talk event stuff! ^_^