If you want to trigg signals on the move without having multitasking on your ABB robot, triggLIOs would help you. This signal would help you to set values to different types of signals (up to 50). One could set Digital Output / Analog Ouput / String Output or Group Output signals with help of this command. This commands also allows one the choice to trigger signals based on distance / time after the start or distance to the end of the movement.
See below examples from RAPID (ABB robots programming language) reference manual:
If you cant think of programming without Notepad++ and you would like to write your ABB RAPID codes in Notepad++, then you are in the right page. Thanks to the chinese website whose link also follows (as source), I have found an XML file (plugin) that would add the ABB RAPID syntax highlighting to Notepad++. Download the XML file from the download link and follow the instruction with screenshots down here.