This work is concerned with the analysis of vibro-impact responses observed in large-scale nonlinear geared systems. Emphasis is laid on the interactions between the high-frequency internal excitation generated by the meshing process, i.e. the static transmission error and time-varying mesh stiffness, and low-frequency external excitations. To this end, a three-dimensional finite element model of a pump equipped with a reverse spur gear pair (gear ratio \(1\!:\!1\)) is built. The model takes into account the flexibility of the kinematic chain, the bearings and the housing and the gear backlash nonlinearity. A reduced-order model is solved with the Harmonic Balance Method coupled to an arc-length continuation algorithm which allows one to compute the periodic solutions of the system. The onset and disappearance of vibro-impact responses is studied through the computation of grazing bifurcations. Results show that the coupling between the external excitation and the time-varying mesh stiffness term greatly modifies the characteristics of the responses in terms of number and periodicity of impacts and contact loss duration.