WordPress - Show categories of custom post type on template file

pages_custom_post_cat.php

<?php
$taxonomy = 'your_taxonomy_name';
$terms = get_terms($taxonomy); // Get all terms of a taxonomy

if ( $terms && !is_wp_error( $terms ) ) : ?>  
    <ul>
        <?php foreach ( $terms as $term ) { ?>
            <li><a href="<?php echo get_term_link($term->slug, $taxonomy); ?>"><?php echo $term->name; ?></a></li>
        <?php } ?>
    </ul>
<?php endif;?>