Lego Mindstorms NXT Sensors are connected to the NXT brick using a 6-position modular connector
that features both analog and digital interfaces. The analog interface
is backward-compatible (using an adapter) with the older Robotics
Invention System. The digital interface is capable of both I2C and RS-485 communication.
| Pin | Name | Function | Color | Pin Numbering |
|---|---|---|---|---|
| 1 | ANALOG | Analog interface, +9V Supply |  white |
 |
| 2 | GND | Ground |  black |
|
| 3 | GND | Ground |  red |
|
| 4 | IPOWERA | +4.3V Supply |  green |
|
| 5 | DIGIAI0 | I2C Clock (SCL), RS-485 B |  yellow |
|
| 6 | DIGIAI1 | I2C Data (SDA), RS-485 A |  blue |
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