Bear with me if this sounds too basic for you, because I don't know how much you know about your tractor, but we need a little more information.
What are you trying to pick up?
What size bucket is on the loader?
Standard or heavy duty?
What engine rpm are you running while working?
You indicate you have a grapple, how much does it weigh?
Kubotas literature says the 513 loader can lift 1003 lbs with the standard bucket 500 mm forward of the pivot pins where the bucket attaches to the FEL. If you have a heavier bucket and grapple you have to subtract the weight of those from the total.
Also operating technique has a lot to do with loader performance and if you are an experienced operator of construction equipment, maybe you are expecting too much from a compact tractor. Last but not least maybe your tractor has hydraulic issues that need to be addressed by your dealer.
Leroy