I assume for the motors (two connections), your talking about servos. For mine, I used XLR connectors and they are rated I think at 20 amps. For my encoders, I used DB9 connectors and cut up some cheap serial cables to mate them.
I purposely did NOT want the power and encoder lines in the same cable to minimize the possibility of noise on the encoder lines. Well, at least that has worked for the past 10 years:})