Out of the two links above the dvddisater is the better one. What it does is provide error correction files that vary from a normal setting of 14% upto 33%. What this means is you need to allow that much space on the DVD before writing it. If you went with normal setting you can write only 85% of the capacity as the remainder would be used for the error correction file. Now in the future if the disc develops any reading errors it may still be possible to recover the data on the disc. See
this
Typically you never want to fill a dvdr or cd-r to the max as disks tend to get bad from the outer edges first. I usually leave about 5% at the end of the disk free to allow for this. Dvddisaster will try harder than windows explorer to get stuff out but without error correction already on the disk, there is only so much that can be done to recover from any failure.
Now if the OP has not provided any checksums on the disk to begin with then there is no way other than to do a plain copy off from the disk to the HDD and see if any read errors get thrown. Or as dvddisaster has, do a fast read-error scan, this could be very useful to check how easy it is to read off discs and replace if the errors get too high. The limitation with dvddisaster is it
only works for CD-rs'
Error checking for DVDr's is not supported, they have PI/PO errors which can be scanned for but there is no uniform std and it requires the drive to output that kind of info in the first place.
One alternative is to find an old copy of cdspeed and do the read test on the dvd-r, if you get a nice curve then the disc is fine, if there is drop in reading speed somewhere, then there 'might' be a problem with the disc. Thi smethid is 50-50 you never know for sure. Dvddisaster's way of providing eror correction files at burn time is a good practice to follow. The discs are cheap enough that it does not matter if you lose a disc for every seven written for ECC files as the data on it is far more valuable.