No problem with that! The purpose of this forum is to answer this kind of questions 🙂
The main disadvantage when lifting more weight is the strength of the motors. Specifically of the motors of the last 3 joints. While it is true that the motors of joints 1, 2 and 3 are not very strong, the small motors of joints 5 and 6 are not capable of supporting a heavy load.
Yes, I was referring to the interchangeable gripper as the tool.
Don’t hesitate to ask any questions you may have!