Make sure the openssl pkcs11 engine provided by OpenSC/libp11 can talk to your PKI card:
$ openssl engine pkcs11 -t -c -pre MODULE_PATH:/path/to/your/opensc-pkcs11-plugin-module.so
(pkcs11) pkcs11 engine
[Success]: MODULE_PATH:/path/to/your/OpenSC-pkcs11-plugin-module.so
[RSA]
[ available ]