How to start a RAID 5 rebuild (Mac Pro Lion)?

Dear community,
does anyone know a solution for the following problem?
Mac Pro (2011) with hardware raid and four drives (2TB) configured as raid 5 raidset (named RS1). Raid controller lost connection to the drive in bay 3 but could reconnect after a couple of minutes. Raidset RS1 then reported as degraded in Raid Utility and drive in bay 3 as "roaming". It was no longer part of the raidset. Turned Mac Pro off, removed and re-inserted drive. After the next start the drive in bay 3 shows in Raid Utility with all green status (no longer roaming). Making the drive a spare drive via Raid Utility disconnects it for ten to twenty seconds, then it shows up again. No rebuild of raidset starting. According to past discussions I found here, the rebuild should start automatically. But what can you do if it does not?
Raidutil output as follows:
raidutil list raidsetinfo
                                     Total     Avail
Raidsets      Type       Drives       Size      Size Comments
RS1           RAID 5     1,2,4      5.23TB    0.00MB No tasks running
raidutil list driveinfo
Drives Raidset       Size      Flags
Bay #1 RS1             2.00TB   IsMemberOfRAIDSet:RS1 IsReliable
Bay #2 RS1             2.00TB   IsMemberOfRAIDSet:RS1 IsReliable
Bay #3 <none>          2.00TB   IsReliable IsNotAssigned
Bay #4 RS1             2.00TB   IsMemberOfRAIDSet:RS1 IsReliable
Kind regards,
Marc

Thanks for your reply. Do you have any idea how to re-initialize the drive? It now seems to be marked as spare(?) and any operations on it are rejected:
> sudo raidutil modify drive --removelocalspare -d 3 -r RS1
Modifying drives...   FAILED.
The drive is in use and is unable to be set unconfigured.
> sudo raidutil modify drive --removeglobalspare -d 3
Modifying drives...   FAILED.
The drive is in use and is unable to be set unconfigured.
> raidutil list status
Apple raidutil version: 1.3.0
General Status: Issues Found
        The volume [R4V1:RS1 [ID: 4]] is degraded.
        The volume [Vol-RS1:RS1 [ID: 4]] is degraded.
        Raidset (RS1) is degraded.
Battery Status: Charged
Controller #1: Hardware Version 2.00/Firmware E-1.3.2.0
                Write Cache enabled
Volume            Status            Type       Drives       Size Comments
R4V1              Is Viable         RAID 5     1,2,4      3.23TB Is Degraded
Vol-RS1           Is Viable         RAID 5     1,2,4      2.00TB Is Degraded
> raidutil list driveinfo
Drives Raidset       Size      Flags
Bay #1 RS1             2.00TB   IsMemberOfRAIDSet:RS1 IsReliable
Bay #2 RS1             2.00TB   IsMemberOfRAIDSet:RS1 IsReliable
Bay #3 <none>          2.00TB   IsReliable IsNotAssigned
Bay #4 RS1             2.00TB   IsMemberOfRAIDSet:RS1 IsReliable

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How to start a RAID 5 rebuild (Mac Pro Lion)?

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