Add Membership Token to PDF Template Joomla
Are you searching for Contacts or Memberships?  By default, Basic and Advanced Search return Contacts.

Your search needs to return Memberships, not Contacts if you want the membership tokens to be available in the PDF letter. 

a) use Search >> Find Memberships

b) use Search >> Advanced Search and set "Display results as" to Memberships

In both cases you should have the "Print PDF Letters for Memberships" action that will let you include the Membership Type token.