Soft starters shouldn’t be chattering, at all. Since we have to guess, my guess would be that a gate firing circuit for one of the SCRs of the soft starter is dead or dying, likely the pulse transformer. If the gate doesn’t fire one of the SCRs, the result is a DC pulse going out to the motor in each cycle, which makes the motor fight itself due to negative sequence current, pulling high current and in all likelihood, causing a severe voltage drop that is pulsating in rhythm with the failed SCR, causing the contactor coil to chatter.
Bottom line, replace the control board of your soft starter. Check the SCRs too, one shorted SCR can have a similar effect, but most soft starters have shorted SCR detection that would throw a fault.