The normal Arduino's do NOT have a 0-5V 
It's PWM. Is you device fine with PWM?
If so, the schematic is kind of fine. Use something like 1k for R1 and you're safe. BUT the circuit can only sink the 200mA, NOT source it. R2 is just to pull up the output but will limit the voltage.
If the device does need real 0-10V but no significant current (<1mA) you can just use a RC filter on the output of this circuit. Or a RC filter and an opamp circuit.
If the device does need real 0-10V and indeed 200mA, start looking for a proper heat sink...
As always, devil is in the details, WHAT do you want to drive?