I am driving bipolar stepper motor using l6480. everything is fine motor is running excellent but the over current detection feature is working unpredictably. i have been disabled this feature then motor is working good, and there is confusion about the calculations of current threshold. in "AN4355 Application note" it is written that "IOCDth = VOCDth × Rds(ON)" which is contradicting the statement of datasheet of l6480, which says " The L6480 measures the load current of each half-bridge sensing the VDS voltage of all the Power MOSFETs (Figure 12). When any of the VDS voltages rise over the programmed threshold". i want to understand this OCD feature.