While every MFP has scan now, that wasn't the case back when this machine came out, yours wasn't sold with the Scan kit, so you can't scan, unless you buy the kit, which would be hard to source (Xerox stopped selling this device December of 2011)
Mono Scan KIT is 497K05760
I know color scan was possible on the 5735A when it had a SN that began with XEF, but I can't find a kit to add to one that doesn't have that SN