The IAC circuit is set up so that one side of the solenoid coil is connected to battery power (via fuses, etc). The other side of the coil is then "grounded" under the control of a transistor-like switching device inside of the PCM. This driver has an auxillary sense circuit so that the PCM can check to make certain that the drive signal was applied to the solenoid when commanded to do so and that the signal was as expected..
If the sensing circuit fails to see either the battery voltage or fails to see a change in voltage when it should have, it assumes that the circuit is open (i.e., open connector, IAC, coil, wiring, etc).
Since you report no issues with driveability or idling, I would assume that the IAC circuit is functional and that the fault is internal to the PCM in the self-monitoring circuitry.
Other than checking to make sure the IAC connector is not loose, I would recommend only getting the exact code and consulting the troubleshooting instructions contained in the PCED before doing anything else. Proper diagnsis would require a scan tool to monitor the IAC PIDs.
Steve
Steve