Lugging or the "lug" point depends on the engine size, hp & torque. We had a Fiat 124S sedan once. You didn't run its engine below about 2,000 rpm. It was only 1.4 liter. At the same time, I had a Triumph TR-3B. The engine on that car was from a tractor. It would do fine down to around 1,500 rpm (and quit revving at 4,500). On my VW Cabrio with 2.0 liter engine, the minimum rpm (stated in the owners manual and from operating experience) on it is 1,500. On our 2010 Jetta TDI, it will do fine down to around 1,300-1,400 rpm. It also has a 2.0 liter engine.
My 4010's lug point seems to be around 1,500 rpm in most cases. Going up hill and with a bit of load, the minimum for it to not strain or run unevenly is around 1,800 rpm. Running the bush hog in heavy grass? You better be at PTO speed, about 2,600.
Lugging is the point at which the engine appears to strain or possibly run unevenly. In the case of the Fiat, you didn't lug it because the oil pump just plain wouldn't put out enough oil flow/pressure to keep the bearings from not being fully lubed.
My grandfather once had a Plymouth V8 with 3 speed stick shift. He frequently drove it like the proverbial Indian or Singapore taxicab driver. 1,2,3 and maybe 10-15 mph he's in high gear. Dad took over the car and almost immediately had to replace main bearings on the engine. Grandpa's lugging had ruined the bearings due to too low oil flow.
Ralph