Disconnecting the drives physically, connecting one by one and observing the pre-boot errors will probably allow you to determine the faulty drive. If you know which physical drive holds your OS, connect it last to avoid booting the OS in vain.
Taking a suspect drive out and examining it may also help, as each drive may (should) have a sticker with its serial number. To further confirm, you can take all the drives out; if each has a sticker with its own serial number and only one number matches the error then you will know for sure.
Physical actions seem less elegant than solving this problem with software, there's always a risk of breaking something or not connecting back in the right way. Still it is a way, in some cases maybe the ultimate way.