Lund University and Güdel AG exhibit real-time coordination between robots with significantly different types of kinematics and different types of control systems. Requiring different robots to work together is an example of the heterogeneous situation that is typical at SMEs. The state of the art motion coordination software is demonstrated by collaborative machining of parts for wooden boxes. Here, a Güdel parallel-kinematic concept robot and a standard ABB serial-kinematic robot complement each other well to solve the task: The parallel robot offers exceptional stiffness and accuracy for machining, and the serial robot can perform both handling and rough-cut machining. Software services for CAD/CAM interfaces and for generation of machining motions, including experimental software resulting from the project as well as state of the art industrial software such as the ISG AG CNC-kernel with Beckhoff TwinCAT3, are combined using novel system integration and adaptation functions. These two relate to the project’s demonstrator currently deployed at a Swiss woodworking company, with software services being loosely coupled for flexible configuration while supporting tight real-time control loops for efficiency during production.