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Thanks royka,
Do you happen to know, in the rtai kernel, would I move the processes with priority listed as rt?

I don't have all the answers but to get you going here is something.

Afaik a gantry system is setup using trivkins kinematics - that you have - and specify coordinates=XXYZ (if you have two servos in X).
You will get four joints, joint_0 and joint_1 is X, joint_2 is Y, joint_3 is Z.
Consequently, a joint represents a servo.
Set up the system like any gantry system.
Homing - see the linuxcnc homing doc.
Looking at the hal and ini files you seem to be almost there. Just change the trivkins line in the ini file and see if it becomes better.