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Talk to them, not sure about pad but you do this on KB buy press/hold e(talk). then you select talk, then you select exit power armor.
You can't tell them to enter an armor stand you have to do it manually, however if you have a second/spare power armor frame, just leave it in the stand so you can just take the plates from your companion(talk > trade) and repair them from your inventory(leave the 1st frame on NPC).