It may be worth noting in your case that your plc must also be motion enabled.
Your plc part number should give you a hint if it is.
Such as, L18ERM.
E= Ethernet
R= Ring Topology Ability
M=Motion
Like was mentioned, all of the tuning is done in Logix5000 or Studio 5000. Motion instructions then need to be inserted into your program and pointed at the axis to control.
I can't remember where exactly to find the tuning, but a good place to start is the good ole' trusty right mouse button on the drive in your project.
I believe there is also some sample programs included with the Connected Components Accelerator Toolkit that go through getting an axis enabled and moving.