If you have the logo in a pdf file it is best.
Then just drag and drop into master file or do FILE>EXTERNAL CONTENT>PLACE EXTERNAL DRAWING. Resize if necessary.
If it is a very elaborate logo with a lot of linear or gradiant fills you may want to trace over it in ArchiCad to make it native just to minimize file size at output.
You could do this with jpg or tiffs but to get good quality it might be a large file which affects every sheet you plot or print.