No, shutting off the motor by switch or relay won't harm it.
The main problem in disconnecting a car battery while the engine is running is that the sense voltage to the regulator drops suddenly to zero, causing the alternator output to go too high. This does not ALWAYS damage the car, but it CAN and often DOES. Same goes for a boat engine's alternator. That's why you never place a battery switch to "OFF" when a boat engine is running. You can switch between banks or to the "Both" position because the regulator never sees zero volts, even momentarily.
However, disconnecting your electric motor should have no negative effect on your system. A BMS shutdown should not hurt the charge controller, either. It is after all, not an unanticipated possibility and is well within normal operating conditions.
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