It will help to be a bit clearer on terminology.
First I want to distinguish between greenhouse earth, icehouse earth, and snowball earth. The Earth was almost entirely ice-free during greenhouse conditions. Even areas near the poles were relatively warm during these times. The climate is considerably cooler globally and much more uneven from equator to pole during icehouse Earth conditions. This is when ice ages occur. Finally, there's snowball earth, where ice reaches well into the tropics, possibly all the way to the equator.
Ice ages are long periods of time (several millions of years) that occur during icehouse Earth conditions. During an ice age, ice coverage semi-periodically alternates between glacial periods (or glaciations) and interglacial periods. During glaciations, landmasses can be covered with ice to within 40 degrees of the equator. During interglacial periods (e.g., now), ice coverage is limited to high altitudes and high latitudes. Right now we have ice covering Antarctica, Greenland, and very high mountains, but nothing else.
Most scientists mark the current icehouse Earth as beginning about 49 million years ago when CO
2 levels plummeted from about 3400 ppm to 650 ppm. The most likely cause: A bloom of freshwater ferns in the then very warm Arctic Ocean that sequestered massive amounts of CO
2. This was the Azolla event. Wiki article:
http://en.wikipedia.org/wiki/Azolla_event.
The current ice age started a bit later, 31 to 34 million years ago, and scientists disagree on both the timing and the cause. Some attribute it to CO
2 reaching some critical low threshold, perhaps caused by the formation of the Himalaya, that enabled the formation of the Antarctic ice sheet. Others attribute it to the formation of the Tasmanian Gateway, others attribute it to the formation of the Drake Passage, yet others to the closure of the Panama Straits, even others to a combination of the above. Most agree that a number of conditions are needed to have an ice age:
- Low atmospheric CO2 levels,
- A continent parked over one of the poles, and
- Continents arranged such that ocean circulation engenders cooling.
The climate oscillates between glacial and interglacial periods once ice age conditions are reached. That's where the Milankovitch that Ophiolite mentioned come into play. The continents are currently emplaced such that there is a marked difference between the northern and southern hemispheres. Glaciations occur when the Earth's orbit and obliquity create cool summers and warm winters in the northern hemisphere.
There are a number of challenges to Milankovitch theory. One key issue is a switch from a 40,000 glacial/interglacial cycle prior to a million years ago the current 100,000 year cycle. Milankovitch theory nicely explains the 40,000 cycle, but the 100,000 year cycle doesn't quite fit. There is a roughly 100,000 year cycle in Milankovitch theory, but it is rather weak compared to the dominant 40,000 year cycle.