When can killer open gate?

I was searching for the answer for quite some time, but could not find it. I have started to play again after some time and I am pretty sure it's still possible for killer to open the gate because I saw it once as survivor and I also done it once as a killer. But I don't see the action for it every time as a killer when I come to a gate. So it seems there are some conditions to it. So I understand all the gens need to be finished and gates powered. But what are the other conditions? Thanks

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