rpcinfo: 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/sbin/rpcinfo - from package: rpcbind

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

On Debian possible default full paths are:

/usr/sbin/rpcinfo - from package: rpcbind

You may install the required package with command apt-get install {package}

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