I carefully followed the guidelines listed at the bottom of my post and established a zero pop colony on Io via the F9 button from the system screen after doing a mineral survey on it. I then moved in the mining ship detailed below. I am not getting any minerals mined. Why?
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AstroMiner-I class Asteroid Miner 39200 tons 732 Crew 1263.6 BP TCS 784 TH 450 EM 0
1147 km/s Armour 1-102 Shields 0-0 Sensors 1/1/0/1 Damage Control Rating 1 PPV 0
Maint Capacity 20 MSP Max Repair 120 MSP
Cargo 5000 Cargo Handling Multiplier 5
Asteroid Miner: 5 module(s) producing 60 tons per mineral per annum
Ion Engine C.08.5 (6) Power 150 Fuel Use 8% Signature 75 Armour 0 Exp 1%
Fuel Capacity 200,000 Litres Range 114.7 billion km (1157 days at full power)
Geological Survey Sensors (1) 1 Survey Points Per Hour
This design is classed as a commercial vessel for maintenance purposes
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The asteroid miners work in a similar way to terraformers. If they are in orbit of a colony they will work automatically and deposit the minerals at the colony. Create a colony on the body you want to mine using the F9 system view. It doesn't have to have any actual population (people), just a colony so it can act as a location to store the mined minerals. I could have it so that the minerals would be mined into cargo holds but them every mining ship would need cargo holds and would be restricted in terms of the amount they can mine. The way it currently works you can still put cargo holds on a mining ship and transfer the minerals after they are mined but you also have the option to just keep mining and let specialised freighters haul the minerals or use mass drivers. Creating a colony only requres opening the F9 window, selecting the body in question and clicking Add Colony. After the mines deposit the minerals on the asteroid/planet/moon. Just go around with a freighter and pick them up (or invest in mass drivers to shoot them home).