Measuring backlash of a drive train

An apparatus comprising:

• a system for monitoring operational health of an equipment unit, wherein the equipment unit comprises a work portion, a drive train, and an actuator operable to drive the work portion via the drive train, wherein the drive train comprises an input member operatively connected with the actuator and an output member to operatively move the work portion, wherein the work portion comprises a load direction and a non-load direction, and wherein the system comprises:
• an input load sensor operable to facilitate load measurements indicative of a load transmitted by the input member;
• and
• a processing device comprising a processor and memory storing computer program code, wherein the processing device is communicatively connected with the actuator and the input load sensor, and wherein the processing device is operable to:
• cause the actuator to move the input member in a first direction associated with the load direction of the work portion until slack and spaces in the drive train are removed to zero the drive train;
• cause the actuator to move the input member in a second, opposite direction associated with the non-load direction of the work portion to work through the slack and spaces of the drive train;
• record the load measurements while the actuator moves the input member;
• and
• determine a backlash load of the drive train based on the load measurements.

An apparatus comprising:

• a system for monitoring operational health of an equipment unit, wherein the equipment unit comprises a work portion, a drive train, and an actuator operable to drive the work portion via the drive train, wherein the drive train comprises an input member operatively connected with the actuator and an output member operatively connected with the work portion, and wherein the system comprises:
• an input load sensor operable to facilitate load measurements indicative of a load transmitted by the input member;
• and
• a processing device comprising a processor and memory storing computer program code, wherein the processing device is communicatively connected with the actuator and the input load sensor, and wherein the processing device is operable to:
• cause the actuator to move the input member until the output member moves;
• record the load measurements while the actuator moves the input member;
• determine a first backlash load of a first pair of engaging members of the drive train by determining a difference between the load measurements when the input member starts to move and the load measurements when the load measurements undergo a first increase;
• and
• determine a second backlash load of a second pair of engaging members of the drive train by determining a difference between the load measurements when the load measurements undergo the first increase and the load measurements when the load measurements undergo a second increase.