tpmtoken_setpasswd: 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

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/tpmtoken_setpasswd - from package: tpm-tools-pkcs11

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

On Debian possible default full paths are:

/usr/bin/tpmtoken_setpasswd - from package: tpm-tools

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