setpin: 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/setpin - from package: pki-native-tools

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

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