How to change Fanuc payload programatically?

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You don't mention how you are controlling your CRX-10iA/L, but this is not something that's directly supported by any of the drivers I've written (ie: fanuc_driver and fanuc_driver_exp).

What you could perhaps do is add a PAYLOAD[R[...]] statement somewhere after this line (or perhaps here would be better), then remotely update the register (ie: ... above) with gavanderhoorn/dominh (or some other way: fieldbus, Fanuc PCDK, etc). dominh currently does not have any ROS integration though.

You'd have to setup some payload schedules which capture the range of your payloads sufficiently, and then switch to them at opportune moments. I don't know whether you can update payload schedules directly (ie: the system variables). If you can, that would remove the need for many different pre-configured schedules.

One complicating factor here is that PAYLOAD[...] must be executed before your motion is started. With the payload schedule ID in a register, which you'd update via a different input (ie: remotely), and the controller pre-interpreting/executing some TP statements, you'd have to verify whether this will all work.

I also don't know whether setting PAYLOAD every time will slow down execution of the TP program. That'd also be something to check.

If you want/need to avoid possible race-conditions, you could extend the messages the driver itself uses (ie: at the Simple Message level) to not only include pose, velocity and time, but also a payload schedule nr. That would mean forking and would take you away from what's supported upstream. Whether that's a concern for you or not only you can decide.