In most cases, the setup screen for a particular function will already have a box to select an output (For example, see "Idle Hold Setup" under the speed control help).
However, for some functions, the only way to assign the output is through this screen. Also, it might be desirable to have two outputs have the same function.
To assign an output to a function, select the output. A list of possible functions will be shown (including "None"), and the desired function can be selected.
Some outputs will be greyed out if they are hard coded to a particular function.