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When I put the XP SATA drive first in boot order, it runs windows. If I put the second SATA drive with Linux, first in boot order, the systems hungs up
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Are you changing your boot order in your BIOS? Is that what that means?
I would install windows first, which you have done. Then install Linux second putting the boot loader on the master boot record of the same drive that you boot windows from. The first drive sda. When you install grub you should be prompted to add the windows boot entry. If not you will have to edit grub manually. If you install grub to the first drive, the drive that the BIOS is set to boot from, then you should be able to choose to boot either OS.
You can also use NTLoader to boot both OS. See a microsoft forum for that.
There are also 3rd party boot loaders that some people use.
The idea is to put the boot loader on the MBR of the drive that the BIOS boots to. Then when the machine boots it will pause at the boot loader with a prompt for you to choose which one.
There are other ways to do it like making a boot disk.
http://wiki.linuxquestions.org/wiki/Boot_floppy
Make sure that you back up everything important first in case you fowl it up.