cupsdoprint: command not found

Maybe Your $PATH variable doesn't contain the default paths? echo $PATH should give something like:

[root@server ~]# echo $PATH
/usr/local/sbin:/usr/local/bin:/sbin:/bin:/usr/sbin:/usr/bin:/root/bin

If it's empty, You may set the PATH variable with this command

export PATH="/usr/local/sbin:/usr/local/bin:/sbin:/bin:/usr/sbin:/usr/bin:/root/bin"

On CentOS possible default full paths are:

/usr/bin/cupsdoprint - from package: kdelibs3

You may install the required package with command yum install {package}

Error in other languages:
cupsdoprint: bevel nie gevind nie
cupsdoprint: comandă negăsită
cupsdoprint: comando não encontrado
cupsdoprint: commande introuvable
cupsdoprint: command not found
cupsdoprint: käsku ei ole
cupsdoprint: không tìm thấy lệnh
cupsdoprint: komanda nerasta
cupsdoprint: Kommando nicht gefunden.
cupsdoprint: kommandot finns inte
cupsdoprint: komut yok
cupsdoprint: nie znaleziono polecenia
cupsdoprint: níor aimsíodh an t-ordú
cupsdoprint: no se encontró la orden
cupsdoprint: no s'ha trobat l'ordre
cupsdoprint: opdracht niet gevonden
cupsdoprint: parancs nem található
cupsdoprint: perintah tidak ditemukan
cupsdoprint: príkaz nenájdený
cupsdoprint: příkaz nenalezen
cupsdoprint: команда не найдена
cupsdoprint: командата не е открита
cupsdoprint: 命令找不到
cupsdoprint: コマンドが見つかりません