Not that I am aware of. You can use one of the outputs as an enable line, but I do not know of a facility to disable them merely after a period on inactivity. My steppers are connected all the time - I do not even have enables on them - and, if the drivers are correctly adjusted, they do not get warm. The important thing is find out the spec of your motors and then set the drivers to that current output.
This sort of facility is normally done by your driver cards, which normally reduce the current to your motors once stopped - for example on the Gecko cards and quite a few others. I don't know what drivers your are using, but have a look at the spec. This should tell you.
Mach does appear a little daunting at first - but that is becasue it is a comprehensive program for lathes, mill, lasers, torches, etc etc. The most important thing is to workout what you want from it - and ignore the rest til you are ready.