You need Ionic installed.
$ npm install -g ionic
Be sure to install Karma CLI and PhantomJS
npm install -g karma-cli
npm install -g phantomjs
webdriver-manager update
To run on an iOS device, first build the app, then prepare Cordova.
$ ionic build ios
$ cordova prepare
Then, open the xcode project from /platforms/ios/ and run on the device you have connected.