Generally, without the HDD password, all data on a password-protected HDD is lost.
There are tools which claim to make such a drive usable but they effectively erase the data on it. I believe this is an inevitable part of the process.
There are claims that the password can be recovered from the HDD for specific models
According to the ATA specification, published by t13.org whose last Revison is available in pdf format here , the passwords are stored in the HPA (Host Protected Area). This part of the disc contains some (or all, depending on manufacturer) disk firmware and is protected from access. The operating system is not able to see this because the BIOS, that average disk access, protects it.
But the exact point where to get the password within the HPA depends on the manufacturer. The following procedure goes to retrieve the necessary information for the already mentioned WD Scorpio and very likely for many models Western Digital. Other writers write passwords in different areas and the scripts used contain the offsets of WD.
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See large number of similar questions https://superuser.com/search?q=HDD+password
Other sources of information / solutions
Forensics Wiki: Hard Drive Passwords