1999 Sienna transponder programming instructions

Can anyone give me the onboard programming instructions for a transponder key blank? This is for the 1999 Sienna. The instructions I currently have do not work and i've heard that the instructions have been revised. Thanks.

http://www.kaba-ilco.com/key_systems/pdf/2003_transponder_guide_6th_edition_[2771-E-603].pdf