Hi Steve
I stand to be corrected but I believe 4mm is about 25 Amps, 6mm cable is rated at 32 Amps, this is what I used and would reccomend. I think 10 mm is rated 43 Amps, but there are other factors to be considered.
The voltage quoted for cable, is a reference to the quality of the insulation, and as long as it's above your operating voltage, then all is fine. If you are operating at 24 volt, then cable rated anything above that is fine.
Then there's the current carrying capacity, this must obviously be above the maximum current that the circuit will ever carry.
The other point that must be considered is volt drop. Although the cable may be thick enough to carry the operating current, it must also be sufficiently large to avoid any drop of voltage between the power supply and the motor. This means that all joints must be well made, either crimped or soldered, and the longer the run, the larger the cable that is required to avoid problems. Voltage drop can result in poor performance and at worse overheating of the cable.
Go for the largest that is practicable but I don't think 4mm is sufficient.
Regards
Walter