I am also Planet CNC and Estlcam. The Estlcam software is only about £50 and the originator Christian is very helpful. There are several Tube tutorial video`s.
The DOC "depth of cut" is set in the Estlcam programme. The tool table sets your speeds and stepovers etc. for each of your tools and each layer can be separately programmed. It conveniently includes a post processor for Planet CNC as well. Very much recommend the software, most intuitive and easy to get started. Do not need to do 3 days of revision before you use it, like some of the high end software.