This also seems like a good opportunity to explain the mysterious "precharge" circuitry. First let's discuss why precharge is necessary.
The attached circuit fragment shows the contactor in the yellow box, which (as we've talked about) consists of a control or "coil" side and an electrically isolated load or "contact" side. The dashed lines in the middle represent the iron core of the contactor, which is the electromagnet that pulls the armature of the contactor when it's energized by closing SW1 (more often than not SW1 is a transistor, not a mechanical switch). As we've also already discussed, this magnetic field contains energy, which must be safely dissipated when the switch opens, or a large voltage spike can result which can destroy things (usually the switch itself). That's the function of the "flyback" or "kickback" diode shown.
But there are transient issues on the load side, as well. In particular, the capacitor shown is typically a very large value "bypass" capacitor which is needed as a reservoir for the battery current. It smooths out and quiets down the voltage transients on the high-power circuitry, which can be very severe when you're driving 500+ amps through an electric motor. Capacitors on your typical printed circuit board range in the sub-microfarad range to maybe a few microfarads, but in applications like this, bypass capacitors are almost always in the millifarad range or may even approach a farad. That's a TON of capacitance, and keep in mind it's designed with high-current wiring designed to handle hundreds of amps. The problem with that is when the cap is discharged, close to 0 volts, and the contactor is closed, applying full battery voltage (~110 volts on my Zero SR) essentially instantaneously. That's a voltage difference between the battery and discharged cap of >100V, which results in a giant, fat blue spark inside the contactor just before the contacts close. That spark can easily represent enough energy to momentarily melt the contact material (copper), and as the contacts slap together, they cool rapidly and actually weld to each other. Needless to say, you do NOT want your contactor contacts welded together.