So far it is possible to do the Initial Request (IR) and a Key Update Request (KUR) sequences with Cryptlib.
It is possible to request the Cryptlib PKIBoot message through a General Message (GENM) while the response can not be parsed so far. A document by Peter Gutmann describing this technology is available from his website.
Due to an empty CHOICE in Error Messages, parsing them raises an segfault. Cryptlib <=3.3.1