Thank you for your inquiry.
I'm not sure which software and library you are currently using, but I usually recommend Arduino IDE with OpenCR board manager.
If you followed eManual instructions, you should have the correct setup for using OpenCR 1.0
Once the board manager is installed correctly, you can use the examples from Arduino IDE > File > Examples > OpenCR > DynamixelSDK > Protocol 2.0.
Although you can adjust various parameters in DYNAMIXEL Control Table and modify the characteristics of actuator, you cannot program the actuator.
However, you can write a program with Arduino IDE and upload it to OpenCR1.0 to control DYNAMIXELs.
Each DYNAMIXEL is configured with a default ID 1, and if there's any conflicting ID in the same network, they won't be detected properly due to a communication collision.
Please connect only one DYNAMIXEL when you are configuring for the first time.
Although you can configure your DYNAMIXEL with provided libraries and examples, this will require more programming skills so I would recommend to use U2D2 for configuring DYNAMIXELs.