DRV8711EVM: Reaching Desired RPS with 1/2 step

Part Number:DRV8711EVM

For my application, I need to be able to run my DRV8711EVM at ~60.1 rev/s. My understanding of reaching a desired angular speed is:

200 pulses/rev * steps/pulse * rev/s = steps/s

So for 12,000 steps/s and 1 step per pulse, I expect 60 rev/s (which is what I get!)

My issue is I need a bit more precision in my stepping frequency. If I go to 24,000 steps and 2 steps per pulse (half step mode) the motor stalls.

I'm running on 24V and when the motor stalls, I am drawing about 800mA of current - if it is a 3A motor why does it stall?

Thank you!