lprsetup.sh: 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/lprsetup.sh - from package: ghostscript

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

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