(Optional) Bind your device to a Bluetooth Bridge if your device uses Bluetooth as its wireless protocol.
Select the target action that you want to associate with your voice command.
Click the "Settings" button in the bottom bar of the device control panel.
Configure your Siri voice command for the action.
Select "Siri Shortcuts".
Go to Shortcuts App to verify the shortcut then you can use the voice command to control your device via Siri.