What motherboard do you have? Also use the CD to install all the necessary drivers for the motherboard, afterward you can check online and see if the manufacture has any updated drivers that may overcome your limitation.
I never had to press F6 during an install since my HDD would detect automatically, so can't advise on that part.
Edit: According to this website, Install Windows XP on SATA
, older motherboards has floppies that may have the SATA drivers on them, so if that is pertaining to your motherboard since you already mentioned it's kind of old...then yes you can try it out.
Thus, for those owning older mainboards with SATA support an extra step is required while attempting to install Windows XP. Windows XP does not provide drivers for all the SATA controllers, therefore, during the installation procedure, the user must insert a floppy with the drivers that came in the package along with the motherboard.