Aiming at the dynamical model identification for the industrial robots with payload, a novel identified method is proposed. Based on the original dynamical model the payload model is built through Newton-Euler method to compensate the original model. Fourier series is designed as exciting trajectory and the weighted least square method is used to identify the unknown parameters in the model. Finally, the established model is validated and analyzed, and all the results show that predicted torques and measured to rques match well.