Hardware RAID controllers write their configuration to a reserved area at the end of every member drive, the DDF format on PERC, MegaRAID and Intel, HPE's own RIS on Smart Array, so that a set can survive its controller. When the controller starts, it reads the description from every drive and compares it with the last configuration it saved. Drives whose description matches are brought up; drives whose description belongs to a set the controller does not remember are reported as foreign, and the controller waits to be told what to do. On MegaRAID the same thing is done from the command line: storcli /c0/fall show lists the foreign configurations, and storcli /c0/fall import adopts them.
The usual reasons are innocent. The controller was replaced and remembers nothing. The drives were moved to another server, or between slots. An expander in a shelf failed and every drive vanished together, and when the shelf came back the controller no longer trusted them. A drive dropped out during a power cut and came back with an older description than the others, so it disagrees with its own set. In every one of those cases the description on the drives is still the truth, and Import reads it and brings the array up, provided every member is present and the copies agree. When a member is missing, or the copies disagree because one is stale, Import can bring up a set with the wrong geometry or the wrong member, and write to it; or it reports Virtual disk import failed and leaves the drives foreign.
Clear does one thing: it erases the description from the drives. The controller then sees unconfigured drives, and the next step, creating a new virtual disk on them, initialises them. The data is still on the platters until the initialise runs, but the description of how it was arranged is gone, and the bench has to reconstruct the geometry from the data itself. That is possible, and it is a longer job than reading a description that was there five minutes ago.