Error "New device injected into existing raid set without 'delta_disks' or 'rebuild'" after replacing a disk in LVM RAID

Issue

• After replacing/repairing a hard drive in a RAID 1 device, you received the following errors while trying to activate the LV:

# lvchange -ay /dev/test/lv_test
device-mapper: reload ioctl on  failed: Invalid argument

• In /var/log/messages the errors were:

kernel: device-mapper: raid: New device injected into existing array without 'rebuild' parameter specified
kernel: device-mapper: table: 253:6: raid: Unable to assemble array: Invalid superblocks
kernel: device-mapper: ioctl: error adding target to table

---
kernel: device-mapper: raid: New device injected into existing raid set without 'delta_disks' or 'rebuild' parameter specified
kernel: device-mapper: table: 253:56: raid: Unable to assemble array: Invalid superblocks