I want them to start automatically when powered up.
I am going to have to side with jraef on this one, powering the line side of a drive with a contactor is not something you see normally. (or at least I haven't)
If you are dead set on having you machine power up on start in this configuration you can look at parameter A094 (Start At Power UP).
Then you will not need to add any additional switches or contacts.
However PLEASE be very careful and put some real thought into this before you do it, make sure there are no hazards that will come from this action.
If you look at the first page of the Quick start guide for the Powerflex 4 Quick Start Guide you will see a big ATTENTION WARNING regarding this parameter.
(See attached quick start guide at the bottom of this post)
What I normally do if a contactor is to be used is put the contactor on the load side of the drive and power the start I/O function off of an auxiliary set of contacts on the contactor.
This way when you call for run, the power contacts are closed before the drive starts to ramp up.
You will find folks that say its not good to put contactors on the load side of a drive also though.
But I personally would rather see it on the load side than on the line side, especially if you are cycling the drive on and off at regular intervals.
Good Luck and be SAFE.
BCS
Good luck.