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You need free space around the piston head to attache anything on it.
More space that normaly needed for the piston to glide
at least one block of free space in all direction
I imagine the box I see around blocks I try to place when I'm playing comes from a mod called BuildInfo. I have the plugin version of that mod enabled so it is available to me whenever I play. It shows the collision box for the blocks so I can tell if it intersecting with other blocks or voxels.
One thing I usually do for mining rigs like this is to place a couple pistons pointing up and extend them fully, put some conveyors on top of them horizontally and then place as many retracted, downward pointing pistons as I can (I think four down works with two extended up). This gives you another 20 meters of distance as after the downward pistons are fully extended you can start retracting the upwards ones.
However, it sounds like you might be trying to add a new piston part incorrectly. To add a new piston part to a piston, you don't place a piston part in the world, you just go into the control panel of the piston and click the button that says "Add Piston Head". This will put an unwelded piston part to the end of the piston and you can then get the parts and weld it up.
It doesn't help that the terminology gets mixed as the separate piece is called a "top piston part" and in the control panel it is referred to as a "piston head".
EDIT
1 - Deleted more Voxel
2 - Deleted my "bugged" piston and placed a new one.
EDIT: I also have no mods installed
How to publish a world save :
1 - Select your save (with character saved in front of the bug).
2 - Click the "Publish" button on the left.
3 - Choose a proper Tag, check Steam upload and click the OK button.
4 - Your world will be uploaded to Steam Workshop.
5 - Paste the Workshop item link here.
Send it to the ones working on the game so they can have a look at this bug you found.
All report to the SE Programmers :
Support Portal = https://support.keenswh.com/spaceengineers/pc
(create "Bug report" or "Request help"(Private) or "Feedback"(Petition) on the Portal)
All may use the Support Email to report the bugs found if they prefer :
Email = support@keenswh.com
And since you're trying this with a mobile grid, you'll have some additional issues to contend with. You'll want a way to lock the drill rig in place when the rover is moving. And you want to anchor the rover to the ground when the drill rig is in use. Landing gear, or the newer magnetic plates, is the normal solution for both.
It is better to find the ore you want and then create a drilling platform above it using the elevator tutorial information. Large blocks seem to work better than small blocks and if the base does not have to move it works very well. You can let these drill and leave and come back and offload the ore onto your ship or vehicle and bring it back to your main base.