A slight grinding noise is common when sitting idling with the clutch out and then trying to put the transmission is first gear, especially when the transmission is cold. You can try holding the clutch in for a short while and then try putting it into gear to see if that stops it. I'm not sure adjusting the clutch is going to help much. It's a matter of stuff spinning and other stuff not spinning in the transmission.
If you want to adjust the clutch, find the "bellows" type cover that covers the adjuster in the middle of the cable. Work this cover up or down and uncover the cable adjuster. Break the lock nut loose and adjust the adjuster inward making the cable shorter. Adjust it all the way in.
Remove the derby cover. You may want to stand the bike up fairly straight up to do this to make sure you don't have any oil running out of the primary. With the derby cover off, you'll see the clutch pressure plate. In the middle of the plate, you'll see a screw with a lock nut on it. Make sure the bike is in neutral. Break the locknut loose. The engine may try to turn a bit when you try to break the nut loose. Turn the screw inward until you feel a resistance. I usually do this then back the screw back out a bit and then back in several times to make sure I'm at the point of resistance, no further. You don't want to start releasing the clutch with the screw. Once you've turned the screw inward until you feel the resistance, back it back out 1/2 to 1 turn. Lock the lock nut back down and reinstall the derby cover.
Then, adjust the cable adjuster out until you have about an 1/8 inch of free travel at your clutch lever pivot. I usually use a nickel between the clutch lever and the lever stancion.
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