This paper reports on a formalisation of the semi-formal modelling language SysML in the formal language mCRL2, in order to unlock formal verification and model-based testing using the mCRL2 toolset for SysML models. The formalisation focuses on a fragment of SysML used in the railway standardisation project EULYNX. It comprises the semantics of state machines, communication between objects via ports, and an action language called ASAL. It turns out that the generic execution model of SysML state machines can be elegantly specified using the rich data and process languages of mCRL2. This is a big step towards an automated translation as the generic model can be configured with a formal description of a specific set of state machines in a straightforward manner.