When one of the drives in a redundant RAID like your RAID-5 is missing or has an I/O Error, the RAID card subsystem declares the array "degraded" and continues without the problem Drive.
Since it is no longer viable, that drive is ignored, and the first write to the array with that drive disabled means that drive is out-of-date. So even if it were working perfectly, it cannot be re-added to the RAID set and have it continue. It theoretically could be quick-erased and re-added as a spare, but that is not my recommendation.
I suggest you use Disk Utility to erase that drive with Security Options: Zero all data, one pass [one click to the right from the default settings]. This writes known-good data into every block, and encourages the drive to substitute spares for any blocks found to be bad after writing. If it passes that process, it has 100 percent good blocks again. If it fails, it is a doorstop.
Once you have a Zeroed drive (which takes several hours but can be run in the background) you can add it to the RAID set as a spare, and it will be brought up to date and become a team member again.
You may also want to consider buying an additional drive of the same type, or several new ones to build a different (larger) array. The Apple RAID card is still limited to drives 2.2TB/drive maximum.