The clicking sound is the latching relay which disconnects your battery(ies) from your 12volt system.
Yes your batteries must be charged in order for that relay to work... unless you're plugged into shore power. In that case, if the battery disconnect switch is in the ON (USE) position, the converter will charge the batteries.
Just note if you frequently completely discharge lead-acid batteries, they may not hold a charge. And if you're not getting 14+ volts at the batteries when plugged to shore power, check fuses and breakers again. But remember... the disconnect switch MUST be ON.
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