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If it is battery operated (batteries are in the console) change them first.
If that isn't the problem, you need to open up the bike and check the servo motor operation and the eddy mechanism.
Many of the Icon bikes have lifetime warranty on the eddy mech. Check your manual for warranty coverage.
Install a brand new sharp needle (embroidery, top stitch, microtex, or universal) of the size that is compatible with the thread weight and fabric.
Drop the feed dogs. If you machine doesn't have the capability, there should be a feed dog cover in your accessory kit that needs to be covered,. This prevents the feed dogs from interfering with your manual maneuvering of the fabric.
Install a darning foot or free motion foot.
Test your stitch and adjust the tension so the threads meet in the middle of the fabric.
Then, it is a matter of practice, practice, practice...
Be sure to have a darning foot or free motion quilting foot (this presser foot is shorter in height so when you lower it, it will not press the fabric to the feed dogs). The foot must allow space under it so the fabric can be manually moved.
The last step is to lower the feed dogs so they are not interfering with your manual manipulation of the fabric.
You need a special foot for free motion quilting--it is slightly shorter in height than a regular presser foot, which essentially provides space between the presser foot and the needle plate to manually move the fabric. Sometimes machines came with a standard darning foot accessory. Your Pfaff dealer probably has at least one style in stock. But there are other specialty feet you can probably use, ie Big Foot, clear free motion foot, C-shaped, oval, etc. You can also purchase a shank adapter (verify it is the correct shank for your machine) and use it with a kit of snap-on presser feet so you can have a variety of presser feet for different functions.
If the bike has gearing I would get your shifters checked to make sure everything is lined up properly and the shift points are set properly. if they are not it can cause the chain to drop off a gear only to shift back up on next rotation of the pedals.
Which model are you using? Creative 4.5?, On the newer machines it drops automatically once the embroidery attachment is hooked up. On older Creatives v2.x there is a slide lever in front of the presser foot on the front.
There is a support option at the website to help you determine if the motor needs to be replaced.
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