How do I change the visible columns in the planning board?

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This can be achieved rather easily by creating a new configuration file for your project. Have a look at this blog post for an introduction to creating configuration files. Then, it is simply a matter of modifying the configuration for the planning board card view and replacing the Effort field with the field of your choice.

Is this configuration file on the TFS Server? If so, do I need access to the server, or can it be changed in a way similar to the Work Item Template in Team Explorer?

The configuration files are located on the server. You need access to it to create and edit configuration files for Urban Turtle.

Thank you. This was helpful. And very fast response!

Great! I'm glad it helped!