What is the ideal shutdown procedure for an Epson RS4 robot (or industrial SCARA robots in general)?

I am working with an Epson RS4-551C in a robotic work cell.

The software/controller allows you to power the motors on and off, and then you can obviously power the controller itself on and off.

Is it harmful to the controller or the robot to power the controller off while the motors are still on, if they are not in motion/under load? If not, what are the risks with doing this?

Is it acceptable to trigger the emergency stop (while robot is not moving) before turning off the controller as a way to ensure the motors are off before the controller loses power?