rtcanconfig: command not found

Have You tried accessing the binary with the full path?

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 Debian possible default full paths are:

/usr/sbin/rtcanconfig - from package: xenomai-runtime

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