diff --git a/test/klippy/limited_corexz.cfg b/test/klippy/limited_corexz.cfg
new file mode 100644
index 000000000..6a7b1b006
--- /dev/null
+++ b/test/klippy/limited_corexz.cfg
@@ -0,0 +1,74 @@
+
+[stepper_x]
+step_pin: PF0
+dir_pin: PF1
+enable_pin: !PD7
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PE5
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_y]
+step_pin: PF6
+dir_pin: PF7
+enable_pin: !PF2
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PJ1
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_z]
+step_pin: PL3
+dir_pin: PL1
+enable_pin: !PK0
+microsteps: 16
+rotation_distance: 8
+endstop_pin: ^PD3
+position_endstop: 0.5
+position_max: 200
+
+[extruder]
+step_pin: PA4
+dir_pin: PA6
+enable_pin: !PA2
+microsteps: 16
+rotation_distance: 33.500
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PB4
+sensor_type: ATC Semitec 104GT-2
+sensor_pin: PK5
+control: pid
+pid_Kp: 22.2
+pid_Ki: 1.08
+pid_Kd: 114
+min_temp: 0
+max_temp: 250
+
+[heater_bed]
+heater_pin: PH5
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PK6
+control: watermark
+min_temp: 0
+max_temp: 130
+
+[fan]
+pin: PH6
+
+[mcu]
+serial: /dev/ttyACM0
+
+[printer]
+kinematics: limited_corexz
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 25
+max_z_accel: 30
+max_x_accel: 1200
+max_y_accel: 900
+scale_xy_accel: True
diff --git a/test/klippy/limited_corexz.test b/test/klippy/limited_corexz.test
new file mode 100644
index 000000000..d17a91a37
--- /dev/null
+++ b/test/klippy/limited_corexz.test
@@ -0,0 +1,28 @@
+# Tests for limited_cartesian
+DICTIONARY atmega2560.dict
+CONFIG limited_corexz.cfg
+
+; Start by homing the printer.
+G28
+G90
+G1 F6000
+
+M204 S1000
+
+; Z / X / Y moves
+G1 Z1
+G1 X1
+G1 Y1
+
+; test SET_KINEMATICS_LIMIT
+M204 S15000
+SET_KINEMATICS_LIMIT X_ACCEL=12000 Y_ACCEL=900 SCALE=0
+SET_KINEMATICS_LIMIT
+
+; diagonal moves
+G1 X0 Y0
+G1 X1 Z2
+G1 X0 Y1 Z1
+
+; regular extrude move
+G1 X0 Y0 E.01