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When the system is booting go into the bios settings. The option for sata drive detection may need to be turned on there, once verifying that option is on save & reboot the pc and it should detect the sata drive.
Sounds like you just need to install your SATA drivers. Look around for your cd/floppy disc of drivers if you have any. When you boot from the CD, It will ask you if you have any other drivers you would like to install, thats when you install them and it should read your SATA hard drive just fine. If you dont have your driver CD anymore search ASUS's website or just google (or similar search engine) your motherboard and look for drivers. Beware of some phony sites though. Good luck :)
I'll assume each of these is an IDE device, meaning each has a wide connector versus a narrow SATA connector commonly found on newer hard drives.
Your motherboard should have two IDE channels, labeled IDE 1 and IDE 2, Primary IDE and Secondary IDE, or something similar. Each IDE channel can support two devices.
For best performance between the drives, you will want to have the Hard Drive connected as Master(Drive 0) on the Primary IDE channel; The CDROM should be connected as Slave(Drive 1) on the Primary IDE channel. Connect the DVDROM as Master(Drive 0) on the Secondary IDE channel, and the ZIP Drive as Slave on the Secondary IDE channel.
When connecting the drives, make sure you set the jumpers correctly; Both the Hard Drive and the DVDROM should have their jumpers set to Master, the CDROM and Zip drives should have their jumpers set to Slave. An alternative is to set the jumpers for every drive to Cable Select(CS), allowing the physical connection of each drive to determine whether its a Master or Slave device.
If your Hard Drive is a SATA device, connect it to the '0' or '1' SATA connector on the motherboard. Have the DVDROM set up by itsself as Master on the primary IDE channel, the CDROM as Master on the Secondary IDE channel, and the ZIP as Slave on the Secondary IDE channel.