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It depends on the model of Dynamixel you are using. Some of the newer models (XM and Pro series) have reboot commands builtin. For the others it is a combination of toggling the torque enable register and setting the torque limit register http://forums.trossenrobotics.com/showthread.php?7289-How-to-clear-Dynamixel-Overload-error&p=66440#post66440.
Buggy behavior has also been noted in some AX-12 firmware releases, so the exact ordering of these steps may be different in some configurations http://forums.trossenrobotics.com/showthread.php?7289-How-to-clear-Dynamixel-Overload-error&p=66441#post66441.
Finally, if overload occurs it's usually a good idea to review your design and determine how it can be avoided. I've burnt up MOSFETs on several AX-12s by ignoring and resetting overload errors. At the very least be sure to let the motor cool down if the temperature is also high.
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