How to Program your own transponder key??

Does anyone out there know the "real" way to Program your own transponder key?? I have a 2005 Tacoma with a Master Key and a Blank Cut key from the dealership and followed the directions on this link, and it did not work. I dont want to have to pay the "Stealership" for something I can do myself. Anyone?? Thanks in advance...


http://www.kaba-ilco.com/key_systems/pdf/2006_Auto_Truck_Key_Blank_Reference_[2852-E-1105].pdf