It all depends on what the problem is. If it was introduced at the file system level, e.g. a disconnect while writing data, then fine. The problem will be with the volume presented to Disk Utility and will (since this is a hardware RAID) be present on both drives. Fix the volume, fix the problem.
If it's a disk problem then no, don't go there! One disk should be showing as "failed" -- simply pop, replace, rebuild RAID.
Perhaps worth noting that RAID =/= backup -- it will protect (somewhat) against hardware failure, but not e.g. data corruption.
And personally, I wouldn't trust *any* volume, RAID or not, that "unexpectedly" unmounted. Get that sorted before continuing!