diff --git a/documentation/graphs/Makefile b/documentation/graphs/Makefile
index 7bdbb893..faa21760 100644
--- a/documentation/graphs/Makefile
+++ b/documentation/graphs/Makefile
@@ -5,18 +5,29 @@
 #-----------------------------------------------------------------------------
 
 GRAPHS := \
-	fsm_slave_conf.ps \
-	fsm_pdo_mapping.ps \
-	fsm_pdo_config.ps \
-	fsm_master.ps \
-	fsm_coe_map.ps
+	fsm_slave_conf \
+	fsm_slave_scan \
+	fsm_pdo_mapping \
+	fsm_pdo_config \
+	fsm_master \
+	fsm_coe_map
 
-all: $(GRAPHS)
+#-----------------------------------------------------------------------------
+
+PS = $(addsuffix .ps,$(GRAPHS))
+PDF = $(addsuffix .pdf,$(GRAPHS))
+
+#-----------------------------------------------------------------------------
+
+all: $(PDF)
 
 %.ps: %.dot
 	dot -Tps -o $@ $<
 
+%.pdf: %.ps
+	ps2pdf $<
+
 clean:
-	@rm -f *.ps
+	@rm -f *.ps *.pdf
 
 #-----------------------------------------------------------------------------
diff --git a/documentation/graphs/fsm_slave_scan.dot b/documentation/graphs/fsm_slave_scan.dot
new file mode 100644
index 00000000..807bc1ea
--- /dev/null
+++ b/documentation/graphs/fsm_slave_scan.dot
@@ -0,0 +1,28 @@
+
+/* $Id$ */
+
+digraph slavescan {
+    size="7,9"
+    center=1
+	ratio=fill
+
+    start -> address [weight=10]
+
+    address -> error
+    address -> state [weight=10]
+
+    state -> error
+    state -> base [weight=10]
+
+    base -> error
+    base -> datalink [weight=10]
+
+    datalink -> error
+    datalink -> eeprom_size [weight=10]
+
+    eeprom_size -> error
+    eeprom_size -> eeprom_data [weight=10]
+
+    eeprom_data -> error
+    eeprom_data -> end [weight=10]
+}