You really have two choices:
1. Cut a standard PWM cable in half, and solder the signal wire you wish to use to the white lead on the PWM cable. Plug into the digital side car as you normally would.
2. Terminate the signal wire into a
0.100" pitch molex connector, just make sure you get it in the correct position for connection on the DSC. We've used these before, and they work amazingly well - it's essentially like making your own PWM cables. We've also used several others in the product series on the robot before - the single row, 5 circuit for encoder input into the Jaguars, the dual row, 4 circuit for limit switch input into the Jaguars, etc.