Overcurrent protection, limit for nominal current or stall?
The stall current actually doesn't represent any working range of the motor. It's just a current with locked rotor and nominal voltage, the only thing that limits the current is the winding  resistance.
The valuable data for your motor is the nominal current. The motor current can also exceed this value for short time, but then it has to drop to let the motor cool down. The good protection would have to take into account the integral of i^2*t, not just a single peak value.
If you want to be on safe side then set the max. current to accordng to the nominal current, but you will lose the ability of high dynamics. The correct way would be a current limit approx. from 200% to 300% and an additional I^2*t limit, or a temperature sensor that cuts the power off at certain temp.