DRV8353: Fault triggered at 160N load

Hello experts,

I have a custom motor control board with a DRV8353RSRGZR driver to control a 57BLR70-24-02 motor in order to lift up different weight.

When the load is under 160N the motor can lift it up with no problem (example: supplied with 10%PWM, the motor can lift a 120N load up) and the motor phase looks like this

But whenever I try to lift up heavier loads like 160N, 200N etc.. even setting up more PWM duty cycle, the driver nFault pin is asserted low and the VDS_HB and VDS_LC are set in the Fault Register 1.

Here are phase currents shown when the motor is stalled and before I disable the driver to check for Fault Registers

1V = 1A

I don't understand this behaviour.

I can provide

SPI config : 

Register => Config 

0x02 => 0x41

0x03 => 0x3EF

0x04 => 0x7EF

0x05 => 0x364

0x06 => 0x243

0x07 => 0x0

Mosfet used : CSD18532Q5B 

Motor used : www.omc-stepperonline.com/.../24v-3500rpm-0-47nm-172w-10-4a-f57x69mm-moteurdc-
sans-balais.html?search=57BLR70-24-02