For the 6K, the 71-017003-10 command cable is a 15-pin connector on the 6K side to flying leads on the drive side. All 15pins are loaded and thus can be used as an analog servo (torque or velocity) or as a step & direction (position) command cable. It is 10-foot.
The 9pin encoder feedback connector is not supplied as it is a standard 9pin D-sub connectorized cable. Encoders are supplied with flying leads, thus only a connector needs to be added.