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So typically you need to remove a weapon before you equip a new one. Weapons are also limited by the hard points on the mech itself and only similar "types" of weapons can be mounted as a replacement.
So if you where to say, downgrade a centurion AC10 to a 5 class, remove the 10 to free up the hard point then place the new valid weapon in the slot. As long as the weapon is a similar type of weapon, and you have bob the tonnage and the internal space to mount the weapon you should be fine. Your error message sounds like you are trying to switch it with a weapon that is a different type of weapon ( like replacing a ballistic with a missile type weapon,) which is something you cannot do. Weapon types need to match with the hard point class on the location you are mounting it to.
Try those things and let us know if your still having issues.
What 'mech are you working on?
You should be able to click and drag whatever weapons your mech can equip in the loadout menus, assuming you have the c-bills, space on your mech, and tonnage to actually fit whatever you're trying to equip.