Don't think so...unless you mean PetAttack() or something like that.
To use their attacks like Claw and Growl, the macro is just
/script CastSpellByName("Claw(Rank 3)")
and you can substitute whatever you want for Rank and Spell.
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Current games:
FFXI: Yzerman on Bahamut server
DOTA2: rslogic