Have you performed “Remove Device” first?
Z-wave devices need to be removed from their parent network first.
From above, try following these steps and let us know if it results in the same message:
Lock and panel within a few feet.
Remove device on panel, program button on the lock.
Wait a moment, then Add device on panel, program button on lock.
Wait at least a minute without touching the panel. It should first show that a device was discovered and that it is “Querying Device Info” Only back out once the device type populates.