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You can't limit inrush current without a controller of some sort. As soon as you close that switch, the motor is going to demand whatever amps it requires to get to the RPM it wants to get to.
The precharge resistor is to charge up the Capacitors inside the controller before the Contactor shuts, which helps increase the life expectancy of the contactor. Without one, as soon as the contactor shuts, it would arc, because the capacitors inside the controller aren't charged. By precharging, the capacitors are at the same potential as the battery, and there is little or no arcing.
Using a precharge resistor won't help your motor inrush.
The precharge resistor is to charge up the Capacitors inside the controller before the Contactor shuts, which helps increase the life expectancy of the contactor. Without one, as soon as the contactor shuts, it would arc, because the capacitors inside the controller aren't charged. By precharging, the capacitors are at the same potential as the battery, and there is little or no arcing.
Using a precharge resistor won't help your motor inrush.