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This can be done in two simple steps :

1. Set the operating mode to extended position control mode (multi-turn). This can be done by setting the operating_Mode(11) to value 4 (considering prorocol 2.0). It supports 512 total turns (-256 to +256) however these values needs to be mapped in radians or in multiple of resolution according to the interface you are using to control the motor. for eg if you use dynamixel controller package to control the motor it takes the goal position in radians. .

2. Now you can simply use the goal_position to give multi turn value.

A single turn takes the values from 0 to 4096 and in multiturn it can take -1,048,575 ~ 1,048,575

if you are using a gui to control dynamixel then multi-turn might not be possible because it limits the angle values but you can do it by chnaging the clock-wise and anti-clockwise angle limits or check it using the dynamixel workbench controller package.