Are you talking about a RoboHelp output? Or are you using SharePoint for version control? Also, I'm a bit confused by the terminology. Are the files uploaded to SP and you want to download/view them?
For output, go to the document library that holds the output and click the start file of the project. Which output are we talking about?
RoboHelp output. I was hoping to be able to view the output via SP, so that my team may view them as they will show in the application.
Sure. Just let them open the start file from the document library.