If the stepper motor stalls the driver no longer knows the position on the rotor, since there is no feedback. The only thing the driver can therefore do if it detects this, is output a fault signal which you would generally use to stop the rest of the machine. To recover the position of the stalled motor, the corresponding axis would need to be homed.

The way to 'automatically compensate' is to have an encoder on the motor, which gives feedback of the rotor position - that's a servo motor.

You should first try and fix the mechanical cause of the stalling and consider stall detection as a last resort, since if the motors are tuned properly and the mechanical side is properly maintained the motors are only likely to stall if the machine crashes. You could check your motor tuning with the following spreadsheet, but unless you've changed it recently, the bent ballscrew is more likely to be the cause:

http://www.mycncuk.com/forums/gcode/...or-tuning.html