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Vinegar works, but for old machines with a lot of buildup, citric acid is stronger and doesn't leave that vinegar smell that stays on your clothes for days. Dissolve about 200-300 grams in hot water, pour it into the drum and let it soak for half an hour before running the cycle - way more scale comes out than with plain vinegar!
I've had to deal with this at home and it works well to use pure white vinegar - dump about 2 liters in the drum, run a hot water cycle with no clothes and that's it, a lot of gunk comes out. If it's really clogged up, let the vinegar soak for a few hours first. For really old machines sometimes you need to take apart the outlet hose and clean it manually, but in most cases the vinegar does the trick.
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