Payload file in backup

I don't think so.
Unfortunately, the payload data is part of the sysvars.sv-file, which is binary.
You can load the backup in Roboguide and then look at the payload.

Depending on how you did your backup, you might have a sysvars.va file, which would have the payloads in a readable format.

But you would not have this file if you did an AOA from the Teach Pendant. Usually people get this file via FTP.