Motor speed control

Am doing a project where I need to control the speed of the servo, stepper, and dc motors. The dc motor runs a conveyor belt that is being controlled by a timer, the servo motor is moving a cartesian robot along the x y-axis while the servo motor is driving another conveyor belt that is controlled by capacitive sensors. I have an option of using PLC to run the system where I want to use the ladder diagram to do so. How do I do the program and how will it be loaded into the plc from the desktop?