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It has been reported that HP drives fail to autoboot on power on or while other devices are on the scsi bus. The problem seems to be with drives configured to spin-up automatically on power on do not get recognized at boot time. To remedy this problem reliably with HP 660Mb (HP97548) and 1Gbyte (HP 97549) drives remove the auto spinup jumper on the back of the drive. Looking at the disk from the back with the power connector on the lower left, it is the sixth jumper.
The official fix was an EPROM change to the HP drive from HP. The HP drives took too long to wait up, so the system wasn't happy with the other drives coming ready first especially when the HP was suppose to be the boot device. (The EPROM is no longer available from NeXT).