SOA is an architecture based on a discrete pieces of software providing application functionality as services to other applications (from wiki). Then SOA can constructed in different ways and inside PI you can have these different components like Integration Engine that it is the ABAP stack. The ABAP stack is developed in the ABAP code and you have different components inside like the message processing pipeline. However PCK is developed in the Java Stuck and it is a component only for configuration purposes, you define how the message is coming and outgoing from/since PI, this is to choose for example a SOAP sender to incoming messages and IDOC for outgoing message and how the message go inside PI from this sender to its corresponding receiver. Also the PCK is a component thinked to be in a DMZ if you dont want to expose the PI to internet directly and you want to give the configuration possibility to your partners
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