Model-based testing (MBT) is typically a black-box testing technique. Therefore, generated test suites may leave some untested gaps in a given implementation under test (IUT). We propose an approach to use the structural and behavioural information exploited from the implementation domain to generate effective and efficient test suites. Our approach considers both specification models and implementation models, and generates an enriched test model which is used to automatically generate test suites. We show that the proposed approach is sound and exhaustive and cover both the specification and the implementation. We examine the applicability and the effectiveness of our approach by applying it to a well-known example from the railway domain. © 2017, IFIP International Federation for Information Processing.