The engine idle speed is controlled by the ECM through the Idle Air Control (IAC) valve mounted on the throttle body. The ECM sends voltage pulses to the IAC motor causing the IAC motor shaft and pintle to move in or out a given distance (number of steps) for each pulse, (called counts).
This movement controls air flow around the throttle plate, which in turn, controls engine idle speed, either cold or hot. IAC valve pintle position counts can be seen using a scan tool. Zero counts corresponds to a fully closed passage, while 140 or more counts (depending on the application) corresponds to full flow.
The IAC valve can be on the throttle body, usually next to the throttle position sensor