There is a Legacy version here.


Source Player Core pg. 301
Minions are creatures that directly serve another creature. Your minion acts on your turn in combat, once per turn, when you spend an action to issue it commands. For an animal companion, you Command an Animal; for a minion that's a spell or magic item effect, like a summoned minion, you Sustain the effect; if not otherwise specified, you issue a verbal command as a single action with the auditory and concentrate traits. If given no commands, minions use no actions except to defend themselves or to escape obvious harm. If left unattended for long enough, typically 1 minute, mindless minions usually don't act, animals follow their instincts, and sapient minions act how they please.

A minion has only 2 actions and 0 reactions per turn, though certain conditions (such as slowed or quickened) or abilities might give them a reaction that they can use. Alterations to a minion's actions occur when they gain their actions for the round. A minion can't control other creatures.