That depends entirely on how the pendant is interfaced to the system. If it uses the game (joystick) port, then the standard Mach joystick driver should work. If it's a keyboard emulator device, or connects to parallel port pins, it should be possible to make it work through keymapping and/or a modified screenset. If it's serial or USB, then probably not, as that typically requires a custom plug-in.
Regards,
Ray L.