dpCREATOR R3 controller

# dpCREATOR R3 (V4.0.3): example config.yaml for a 3-axis router.
# Wiring: each axis terminal STEP 5V -> driver PUL+, DIR 5V -> DIR+, GND -> PUL- and DIR-, ENA unconnected.
# Limit switch between LIMIT and LIMIT COM. NC e-stop between E_STOP and +3.3V (no step pulses without it).
# Before homing, send ? and press each switch: Pn: shows X, Y or Z. If it shows without pressing, flip :low.
# Set steps_per_mm, speeds and travel for your machine. The Flash Firmware page builds this for you.
board: dpCREATOR R2/R3
name: dpcreator_r3_example
meta: ESP32-S3-WROOM-1-N16R8, FluidNC 4.1.1 + W5500

stepping:
  engine: RMT
  idle_ms: 250
  pulse_us: 3                  # DM542 needs >=2.5 us pulses
  dir_delay_us: 5              # DIR setup time
  disable_delay_us: 0

probe:
  pin: gpio.3:low
  check_mode_start: true

control:
  safety_door_pin: NO_PIN
  reset_pin: NO_PIN
  feed_hold_pin: NO_PIN
  cycle_start_pin: NO_PIN

axes:
  shared_stepper_disable_pin: gpio.8 # board enable line; the axis terminals have no ENA

  x:
    steps_per_mm: 80           # 20T pulley, 2 mm belt at 1/8 = 80
    soft_limits: true          # refuse moves outside the travel (needs homing)
    max_rate_mm_per_min: 3000
    acceleration_mm_per_sec2: 200
    max_travel_mm: 600
    homing:
      cycle: 2
      mpos_mm: 0               # switch position = machine 0, travel runs 0 to +600
      feed_mm_per_min: 200
      seek_mm_per_min: 2400
      settle_ms: 250
      positive_direction: false # switch at the left

    motor0:
      limit_all_pin: gpio.47:low
      hard_limits: true        # stop at once if a switch trips during motion
      pulloff_mm: 2
      standard_stepper:
        direction_pin: gpio.5
        step_pin: gpio.4

  y:
    steps_per_mm: 80           # 20T pulley, 2 mm belt at 1/8 = 80
    soft_limits: true          # refuse moves outside the travel (needs homing)
    max_rate_mm_per_min: 3000
    acceleration_mm_per_sec2: 200
    max_travel_mm: 400
    homing:
      cycle: 2
      mpos_mm: 0               # switch position = machine 0, travel runs 0 to +400
      feed_mm_per_min: 200
      seek_mm_per_min: 2400
      settle_ms: 250
      positive_direction: false # switch at the front

    motor0:
      limit_all_pin: gpio.48:low
      hard_limits: true        # stop at once if a switch trips during motion
      pulloff_mm: 2
      standard_stepper:
        direction_pin: gpio.7
        step_pin: gpio.6

  z:
    steps_per_mm: 400          # 2 mm lead at 1/4 = 400
    soft_limits: true          # refuse moves outside the travel (needs homing)
    max_rate_mm_per_min: 1000
    acceleration_mm_per_sec2: 100
    max_travel_mm: 100
    homing:
      cycle: 1
      mpos_mm: 0               # switch position = machine 0, travel runs 0 to -100
      feed_mm_per_min: 100
      seek_mm_per_min: 800
      settle_ms: 250
      positive_direction: true # switch at the top

    motor0:
      limit_all_pin: gpio.45:low
      hard_limits: true        # stop at once if a switch trips during motion
      pulloff_mm: 2
      standard_stepper:
        direction_pin: gpio.16
        step_pin: gpio.15

uart1:
  txd_pin: gpio.1
  rxd_pin: gpio.2
  rts_pin: NO_PIN
  cts_pin: NO_PIN
  baud: 1000000                # SmartTabUI pendant firmware runs at 1000000
  mode: 8N1

uart_channel1:
  uart_num: 1
  report_interval_ms: 75
  message_level: Info

spi:
  miso_pin: gpio.13
  mosi_pin: gpio.11
  sck_pin: gpio.12

sdcard:
  cs_pin: gpio.10
  card_detect_pin: NO_PIN
  frequency_hz: 4000000

ethernet:
  cs_pin: gpio.14
  int_pin: gpio.9
  rst_pin: NO_PIN
  phy_type: w5500
  phy_addr: 1
  frequency_hz: 8000000        # shared bus with the SD card

macros:
  startup_line0:
  startup_line1:
  macro0:
  macro1:
  macro2:
  macro3:

start:
  must_home: true

coolant:
  mist_pin: NO_PIN
  flood_pin: NO_PIN

PWM:
  pwm_hz: 5000
  output_pin: gpio.21
  enable_pin: NO_PIN
  direction_pin: NO_PIN
  disable_with_s0: false
  s0_with_disable: true
  spinup_ms: 3000
  spindown_ms: 3000
  tool_num: 0
  speed_map: 0=0.000% 24000=100.000%