Summon Minion Macro?

Is it possible to summon a minion with a macro? I want to make one that dismisses my chocobo and calls the minion at the same time.

I'm sure you could. Just have to play with the timing as you can't have them both at the same time. Separate one command from the other with /wait...then how many sec you think it takes to finish the first action. I have all my Egi's on macro but nothing else linked to the action.

I'm just unsure what the command would be. I'm hoping there is one because SE did bother to make the minion icons usable for macros.

I know to dismiss the chocobo is /companionaction "Withdraw" but I've tried all manner of combinations to summon a minion with no luck.