I would 1,000% agree with Joerg. OMSA would provide you a GUI to take these steps in. However, OMSA installation in an ESXi environment *DOES* require a reboot, so you'll want to take that into account, if you do choose to install the tool. You can find the latest version of OMSA for your version of ESXi using the support page linked below. I'd have linked the latest version of OMSA, but I didn't see your ESXi version posted.   [URL]   [URL]   To answer your question directly, you can shut the server off, remove the disks, power the server back up, boot into the PERC BIOS, install the new drives, and use the management tools there to view the state of the replacement disk.
I have a R710 and PERC 6i running ESXi.  What is the method to use to hot-swap a failing drive?  It is not running OM.
Replacement on PE R710 and Perc 6