An Adaptive Reconfigurable Manufacturing System for maintenance of structural parts and functionality of the autonomous vehicle with IEC61499 standard is proposed. Using the ABB RobotStudio, the functionalities of the IRC5 is programmed with PC interface. nxtStudio from nxt Control company is used as development and runtime function block control system which is been deployed into EV3 Lego (Autonomous vehicle). This FB will generate the control signal which in turn initiates the functionalities of the ABB IRC5. This control signal is transferred through TCP /IP socket communication between Robotstudio and nxtStudio. This also includes the hardware implementation of the assigned task.