B&O provide dealers with PUC updates on a regular basis, however ultimately B&O Denmark decides if a unit is to be added to the PUC library or not.
Clearly, if the unit is popular, or they get a lot of requests, then the STB is added in time. I also understand, for a less popular model which a dealer needs adding, they can pay to have it added, but I am sure not many take up this option.
Whilst you Samsung BD-P1600 is not currently in the PUC library, as you have a Beo5, then it can be controlled directly (i.e. not via the PUC) An XML file would need to be produced for you Samsung unit and the unit would need to be visible to the Beo5.
I also agree with Michaels point as Samsung use NEC protocol for almost all their units