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With the engine running at a fast idle and the ammeter showing a 10A charge you should have around 6.8 to 7.2 V at the battery terminals.
The 0.2V increase in voltage you measured at the battery, when charging is too low.
How old is the battery and what voltage do you have at the terminals when it is fully charged, engine not running? For a 6V in good condition and fully charged you should have around 6.3 V.
Measure the specific gravity of each cell with a battery hydrometer. If low put the battery on a charger and see if the value increases. You can also measure the voltage across the battery with it disconnected, to judge the condition and charge level.
I'd suspect a problem with one of the cells in your current battery.
Spec's on your generator:
Main Brush Tension- 20 oz.
Third Brush Tension - 12 oz.
Max. Cold Output - 25A, 8.0V @ 1500 rpm
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