The state-of-art approaches to embedded real-time software development are very costly. The high development cost can be reduced significantly by using model-based integration of reusable components. To the ABCD (Architecture, Basic, Common and Domain) architecture, we propose an architecture that supports integration of software components and their behaviors, and reconfiguration of component behavior at executable-code-level. In the architecture, components are designed and used as building blocks for integration, each of which is modeled with event-based external interfaces, a control logic driver, and service protocols. The behavior of each component is specified as a Finite State Machine (FSM), and the integrated behavior is modeled as a Nested Finite State Machine (NFSM). These behavior specifications can be packed into a Control Plan program, and loaded to a runtime system for execution or to a verification tool for analysis. With this architecture, embedded software can be constructed by selecting and then connecting (as needed) components in an asset library, specifying their behaviors and mapping them to an execution platform. Integration of heterogeneous implementations and vendor neutrality are also supported. Our evaluation based on machine tool control software development using this architecture has shown that it can reduce development and maintenance costs significantly, and provide high degrees of reusability.