Simply make a WP from the soldier to some place near, remember to NAME
the guy in the NAME-field,
let us say you named him GUY1, and then in that WP's "On Activation" field you shall write:
Guy1 fire ["Put", "Pipebomb"]
(or: This fire ["Put", "Pipe... ] if ya don't name him).
Now make one more WP to a place nearby (this is the "get the hell out of here" WP, so set the speed to FAST ).
And like before you now write the command in the "On Activation" field of that WP.
Touch off syntax goes:
Guy1 action ["TOUCHOFF"]