"PXE-E61: Media test failure" is unrelated to the drives ... it simply is what comes after the hard drives as a boot device.
You need to boot to the CTRL-R (PERC 5/6) or CTRL-C (SAS 5/6) to see and configure the drives. The PERC's do not support non-RAID, so you need to configure/initialize RAID before the OS can see any drives. What OS are you wanting/hoping to install?