It only gives that alert when a drive capable of over UDMA33 is connected (which needs an 80 wire cable to support faster modes) and, as stated, the cable is either not an 80 wire, or it is, but is damaged or mis-installed (the BLUE end must go to the motherboard).
It also appears that some configurations may cause it, Hard drive with DVD-ROM slave NOT identified in BIOS seemed to cause it, cleared up when I autoset all the drives in BIOS
If you have two UDMA66 or better Hard disks, and are splitting them between primary and secondary, both cables should be 80 wire - a lot of myth surrounds 80 wire cables, but there doesnt seen to be any reasong you shouldn't use them with lower speed drives.
80 wire are ALWAYS cable select (CS) capable, the far end is Master, and the middle is SLAVE, and best advice is to retain that arrangement.
Usaing a pair of 80 wire cables, and all drives set to CS, you never need to worry about setting Master/Slave jumper, or chenging them if you rearrange the drives - I'm a convert to CS mode, after not really trusting it before.