To connect the TD-02 module to a mixer/PA System, a stereo 1/8" [3.5mm] TRS to dual 1/4" Insert cable is recommended. Roland makes the RCC-5-3528:
Roland - RCC-5-3528 | Black Series Interconnect Cable
Connect the 1/8" end of the cable to the OUTPUT/PHONES jack on the TD-02, and the 1/4" ends to two input channels on your Mixer/PA system.