Anime ID...steampunk mecha

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H/a/y guys...

I'm trying to ID an anime my friend saw several years ago and described to me...

It takes place in the middle ages or something, and in it there's a steampunk mecha trying to storm a castle. On the inside there's a crew of people operating the mecha...does that sound familiar to anyone?

It's not Robot Carnival but I showed him that segment from it and he said it was pretty similar. Any ideas?

Pic not related