When you replace a drive that has been included in a RAID volume, follow the drive replacement instructions in the service manual for the server. Keep in mind these differences if a RAID volume is involved.
The cfgadm instructions in the service manual are for individual drives that are not part of RAID volumes. When a drive is part of a RAID volume, you do not need to unconfigure it before hot-swapping it with a new drive.
If the failed drive was in a RAID 0 volume, you lose all data on that volume. Replace the failed drive with a new drive of the same capacity. Then recreate the RAID 0 volume (see Create a Hardware RAID Volume (FCode-based RAID Utility)) and restore data from a backup.
If the failed drive was in a RAID 1, RAID 1e, or RAID 10 volume, the new drive is automatically configured and synced with the RAID volume. Remove the failed drive and replace it with a new drive of the same capacity. Then allow the RAID volume to automatically incorporate the new drive.