I presume your question focuses on how to set the BIOS Setup option for SATA Port Mode (as my system calls it). Options usually are: IDE (or PATA) Emulation; SATA; AHCI; or, RAID. In fact, AHCI is the true type of device for a SATA HDD.
First, I'm not sure why you are concerned with RAID. You say you are trying to install to ONE SATA HDD, whereas RAID always involves more than one in some array. So, let's review the possible options for installation of XP.
1. You forget the true AHCI nature of SATA devices (and the need to install drivers) and use the work-around that the BIOS contains. You set the SATA Port Mode to IDE (or PATA) Emulation, and the BIOS makes that port and its HDD appear to be only a plain old IDE device which XP fully understands. When you Install, you do NOT need to install ANY extra driver from floppy - XP will find and use the (apparent) IDE drive. BUT this means you do not get to take advantage of some extra features of the new SATA (AHCI) drive system.
2. You do want the new advantages. So you set the SATA Port Mode to SATA or, better yet, to AHCI. Now when you go to install XP, you WILL have to install drivers for that device type from floppy via the F6 key routine you already know. But remember, the driver needed is for an AHCI device, not a RAID device. However, I realize that some mobo makers create confusion here because they bundle both AHCI (or SATA) and RAID drivers into ONE driver they call "RAID" and that's the driver you get to install from floppy. So in your case, check the manual for your mobo and its accompanying CD of utilities, etc to be sure which way you have to proceed. Are AHCI and RAID all together in one driver? Or, is there a separate AHCI (or SATA) driver (NOT the RAID driver) you need to install from floppy? Either way, you still have to set the SATA Port Mode to SATA or, better yet, AHCI.
3. You actually do plan to install to a RAID array consisting of at least two HDD's and boot from that. This process has an extra step. First, you set the SATA Port Mode to RAID and ensure you have BOTH HDD's installed. Get out the instructions for how to create and manage your RAID array. Save and Exit from BIOS Setup, and the machine will reboot. Now, watch the screen carefully for a prompt to enter the RAID Setup and Management routines - usually with a particular key like CTRL-A or whatever your system uses. Within this system you specify which HDD's actually are assigned to a particular RAID array (any not specifically assigned are left as NON-RAID drives), what type of RAID array you are creating, some setup parameters, etc, and finally you tell it to go ahead and Create the RAID array. This step basically Partitions and Formats the HDD's. When done you can back out of the Management screens and let it finish the boot sequence. If you do NOT have your XP Install disk in the optical drive, it will simply fail to boot because there is no disk with an OS. If your XP Install disk is in place, you will now begin the Install and will need to use the F6 - floppy process to install the RAID drivers. But NOW you actually do have an established RAID array for Win XP Install to find, and it should go ahead.
My guess is you intended Option 2 - use a single drive as an AHCI device. So you will need to set the BIOS Setup SATA Port Mode option to AHCI (or SATA if there is not an AHCI option) and install the correct driver from floppy using F6. Just be sure which driver you are installing. Even if it is one of those combined drivers that calls itself "RAID", do not set the Port Mode to RAID unless you actually are going to create a RAID array of two or more HDD's and use that.
By the way, I found out (after Partitioning and Formatting ahead as you did) that you don't need to do that up front. XP Install does all that for you as it starts to use the chosen boot drive.