This repository has the content about how to use dynamixel motors.
Download the Dynamixel wizard: Click here
To build the file and install the software, fallow the commands bellow:
$ cd ~/Downloads && sudo chmod 775 DynamixelWizard2Setup_x64
$ ./DynamixelWizard2Setup_x64
Give permission to your system to access the USB port.
$ sudo usermod -aG dialout $USER
Reboot your system.
$ reboot
It's possible to use the dynamixel wizard in windows too, here is the link(Click here) to download the software.