Don't copy the URL from the web window that you open to access the intended SharePoint directory - seeing as that has a bunch of view information in the URL:
For example - here's a URL NOT to use:
http://foo.abc.com/teams/infrastructure/Doc%20Pipeline%20and%20Edit/Forms/AllItems.aspx?Ro otFolder=%2fteams%2finfrastructure%2fDoc%20Pipeline%20and%20Edit%2fRoboHelp%2fVPN&FolderCT ID=&View=%7bA1B4DCFF%2d9FC9%2d4565%2d8779%2dB0F10BAFFA30%7d
Instead, the URL should be as follows - except take out the "%20" for spaces - as well as the "http:" part
so - ultimately
If you're unsure exactly what the path should be, create the desired destination folder on your sharepoint site.
Copy one file into the desired destination folder.
Right click on the file and select "Properties"
Copy the Address (URL) that you see in the Properties window.
Use that as the URL in the RoboHelp output Properties > Publish field, and then remove the "http:", any "%20" space characters (easier just to leave spaces out of your sharepoint directory names), and the file name at the end of the path (so just the directory path remains, not the full directory path/filename).
Many thanks! This works and I can continue completing my project.