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IF you have built Storage for it, they will automatically pick up the ore they have mined and then will take it to your storage for it.
If you don't have such storage, the ore will stay there until you transfer it to their pack. (Typically, five ore (copper or iron) will fill up an ore node.)
Note: It has to be a storage type that is designed for that ore. So, "Storage:Ore" is for Iron, "Copper Storage" is for copper ore. (I don't know why they didn't fix the naming convention there.)
They will also automatically haul ore/material to a machine that can accept it and put it in the machine when the space is available. ie: They will put copper ore into a Electronics Bench too, even while it's being used by a crafter.
only to proper storage.
Additionally, if you use a node that is too far from town to do that, you can build ore storage near the ore node, shift-right click it, and they will auto-fill it. Then you unload it onto your pack beast of choice and haul it to town. The game will however consider your ore storage here an outpost and visit it accordingly.