public MotionType MotionType { get; }

Project.UndoContext.BeginUndoStep("RsMoveInstructionDescriptionProperties");
try
{
    // Instance active station.
    Station station = Station.ActiveStation;

    // Create a MoveInstructionDescription.
    RsMoveInstructionDescription myMoveInstrDesc = new RsMoveInstructionDescription("SearchL", MotionType.Linear);
    myMoveInstrDesc.InformationText = "Search Linear";

    // Create InstructionPrameterGroups and InstructionParameters
    // and add them to the group.
    RsInstructionParameterGroup myIPG = new RsInstructionParameterGroup();

    RsInstructionParameter myArg = new RsInstructionParameter("Stop");
    myArg.AccessMode = ParameterAccessMode.In;
    myArg.DataType = "switch";
    myArg.Optional = true;
    myIPG.InstructionParameters.Add(myArg);

    myArg = new RsInstructionParameter("PStop");
    myArg.AccessMode = ParameterAccessMode.In;
    myArg.DataType = "switch";
    myArg.Optional = true;
    myIPG.InstructionParameters.Add(myArg);

    myArg = new RsInstructionParameter("SStop");
    myArg.AccessMode = ParameterAccessMode.In;
    myArg.DataType = "switch";
    myArg.Optional = true;
    myIPG.InstructionParameters.Add(myArg);

    myArg = new RsInstructionParameter("Sup");
    myArg.AccessMode = ParameterAccessMode.In;
    myArg.DataType = "switch";
    myArg.Optional = true;
    myIPG.InstructionParameters.Add(myArg);

    myMoveInstrDesc.InstructionParameterGroups.Add(myIPG);

    // Create a new InstructionPrameterGroup.
    myIPG = new RsInstructionParameterGroup();

    myArg = new RsInstructionParameter("Signal");
    myArg.AccessMode = ParameterAccessMode.Variable;
    myArg.DataType = "signaldi";
    myArg.Optional = false;
    myIPG.InstructionParameters.Add(myArg);

    myMoveInstrDesc.InstructionParameterGroups.Add(myIPG);

    // Create a new InstructionPrameterGroup.
    myIPG = new RsInstructionParameterGroup();

    myArg = new RsInstructionParameter("Flanks");
    myArg.AccessMode = ParameterAccessMode.In;
    myArg.DataType = "switch";
    myArg.Optional = true;
    myIPG.InstructionParameters.Add(myArg);

    myMoveInstrDesc.InstructionParameterGroups.Add(myIPG);

    // Create a new InstructionPrameterGroup.
    myIPG = new RsInstructionParameterGroup();

    myArg = new RsInstructionParameter("SearchPoint");
    myArg.AccessMode = ParameterAccessMode.InOut;
    myArg.DataType = "robtarget";
    myArg.Optional = false;
    myIPG.InstructionParameters.Add(myArg);

    myMoveInstrDesc.InstructionParameterGroups.Add(myIPG);

    // Create a new InstructionPrameterGroup.
    myIPG = new RsInstructionParameterGroup();

    myArg = new RsInstructionParameter("ToPoint");
    myArg.AccessMode = ParameterAccessMode.In;
    myArg.DataType = "robtarget";
    myArg.Optional = false;
    myArg.PointType = RsPointType.ToPoint;
    myIPG.InstructionParameters.Add(myArg);

    myMoveInstrDesc.InstructionParameterGroups.Add(myIPG);

    // Create a new InstructionPrameterGroup.
    myIPG = new RsInstructionParameterGroup();

    myArg = new RsInstructionParameter("ID");
    myArg.AccessMode = ParameterAccessMode.In;
    myArg.DataType = "identno";
    myArg.Optional = true;
    myIPG.InstructionParameters.Add(myArg);

    myMoveInstrDesc.InstructionParameterGroups.Add(myIPG);

    // Create a new InstructionPrameterGroup.
    myIPG = new RsInstructionParameterGroup();

    myArg = new RsInstructionParameter("Speed");
    myArg.AccessMode = ParameterAccessMode.In;
    myArg.DataType = "speeddata";
    myArg.Optional = false;
    myIPG.InstructionParameters.Add(myArg);

    myMoveInstrDesc.InstructionParameterGroups.Add(myIPG);

    // Create a new InstructionPrameterGroup.
    myIPG = new RsInstructionParameterGroup();

    myArg = new RsInstructionParameter("V");
    myArg.AccessMode = ParameterAccessMode.In;
    myArg.DataType = "num";
    myArg.Optional = true;
    myIPG.InstructionParameters.Add(myArg);

    myArg = new RsInstructionParameter("T");
    myArg.AccessMode = ParameterAccessMode.In;
    myArg.DataType = "num";
    myArg.Optional = true;
    myIPG.InstructionParameters.Add(myArg);

    myMoveInstrDesc.InstructionParameterGroups.Add(myIPG);

    // Create a new InstructionPrameterGroup.
    myIPG = new RsInstructionParameterGroup();

    myArg = new RsInstructionParameter("Tool");
    myArg.AccessMode = ParameterAccessMode.Persistent;
    myArg.DataType = "tooldata";
    myArg.Optional = false;
    myIPG.InstructionParameters.Add(myArg);

    myMoveInstrDesc.InstructionParameterGroups.Add(myIPG);

    // Create a new InstructionPrameterGroup.
    myIPG = new RsInstructionParameterGroup();

    myArg = new RsInstructionParameter("WObj");
    myArg.AccessMode = ParameterAccessMode.Persistent;
    myArg.DataType = "wobjdata";
    myArg.Optional = true;
    myIPG.InstructionParameters.Add(myArg);

    myMoveInstrDesc.InstructionParameterGroups.Add(myIPG);

    // Create a new InstructionPrameterGroup.
    myIPG = new RsInstructionParameterGroup();

    myArg = new RsInstructionParameter("Corr");
    myArg.AccessMode = ParameterAccessMode.In;
    myArg.DataType = "switch";
    myArg.Optional = true;
    myIPG.InstructionParameters.Add(myArg);

    myMoveInstrDesc.InstructionParameterGroups.Add(myIPG);

    // Add the InstructionDescription to the ActiveTask.
    station.ActiveTask.InstructionDescriptions.Add(myMoveInstrDesc);

    // Open the "Instruction Templates Manager" on the
    // "Create" menu to verify that the description has been added.
}
catch
{
    Project.UndoContext.CancelUndoStep(CancelUndoStepType.Rollback);
    throw;
}
finally
{
    Project.UndoContext.EndUndoStep();
}