Yes, it's called the wagon wheel test plot, the square/circle test plot, and the X08 test plot.
They're accessible via the special diagnostic events mentioned in the manual. No software required.
I've attached a few pages from the Gerber manual explaining the tests. I've also included a couple pages of the error code troubleshooting guide if you should run into issues.
A few years ago, I drove two hours to look at a nearly new GS15+. I didn't have a laptop to take with me, but I took a pen tool and a roll of pounce
paper and ran the aforementioned diagnostics. I went home with an absolutely perfect plotter for $1,200 US.
Had the seller known about the on-board diagnostics, they could have sold it for over twice what I paid.
JB