bmsencode: 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/bmsencode - from package: dgc

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

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