This will be easier than you think.
For the cable, a regular cable will do because (as you say) the Powerbook's ethernet port is autosensing.
Now for the connection...
From the printer's front panel, go to the Test menu, run a Self Test. This will print a page with lots of information, including the printer's IP address. Then just manually assign the Powerbook an IP address that is on the same subnet as the printer.
Or...you can go into the printer's front panel menus and assign a particular IP address to the printer and connect that way. But it's easier to just accept the printer's current IP address and set up your Mac.
Chris