You can use two 10K resistors in series to divde the 0-10V input to 0-5V so that the ADC can read it. The ADC input are pretty fast response (less than 0.1ms). However, the PLC is really not designed to handle very high speed PID loop like in servo control.
PLC scan time is about 7 microsecond per word of ladder logic. TBASIC varies from 0.1ms to several ms depending on complexity of the function. It is not very meaningful to talk about "Scan Time" of TBASIC since you don't usually execute the TBASIC at every ladder scan. Instead you execute a custom function once when an event ocurrl or you could use a clock pulse to periodically execute a custom function written in TBASIC.
The smallest deterministic sampling time is using the 0.01s clock pulse, which means about 100 samples per second.