When starting out, I like to (eventually) make a large grid 3x3 drill ship with hydrogen thrusters up on top. The general stuff sits on top of the 3x3 grid of drills - that's the H2O generator and production, cockpit, battery, gyros, storage, connector, and the stuff necessary for PAM. The sensor goes face down in the direction of the drills.
After all the basics are done, I build a tall spire of conveyors that feeds the thrusters. It must be high enough to clear the damage zone of the thruster. For small grid hydrogen, I think it's 2 or 3 blocks.
Now you have the bore punch! Set it up with PAM to automine an area.
It's super handy to have the ALIGN command set up with PAM so you can guarantee you're level. Tipping over in that thing is a death sentence.
Eventually I like to build a 10x5 drilling ship for asteroids.