To correct the error, just delete the table that generates the error from the dataset, from the server explorer, edit the table and give it a primary key, then re-drag it on the dataset and you are
good to go.
TL;DR
The "Update requires a valid UpdateCommand" error appears when a typed dataset contains a table without a primary key. Delete the table from the dataset, give it a primary key, and drag it back in.
It occurs when you use a typed dataset and try to update a table in the dataset that does not contain a primary key.
Delete the table that generates the error from the dataset, edit the table in Server Explorer to give it a primary key, then drag it onto the dataset again.