Rockwell Automation 999 IMC S Class Compact Motion Controller (Cat. No. 4100-999-122) - Manual (Page 62)

4-20 Installation and Hookup
Publication 999-122 - January 1997
Allen-Bradley 1391B-ES and 1391-DES Drives
If you are using 4100-CCAQB pre-engineered cable assemblies from
Allen-Bradley to connect the IMC-S/23x to Allen-Bradley 1391B-ES
or 1391-DES AC servo drives, select 5V encoder power (the factory
setting) and refer to Appendix A for connection information.
Allen-Bradley 845F, 845H, and 845T Encoders
If you are using Allen-Bradley 845F, 845H-, or 845T incremental
encoders (see Select the Encoder Power Voltage earlier in this section
for compatible models), connect them to the IMC-S/23x using a
separate 4100-CCSxxF pre-engineered cable assembly for each axis as
shown below.