Having been transferred to his company's Madison office from the Chicago area, Ron Berman moved to Middleton and continued his involvement in Scouting. He brought extensive experience with large Boy Scout troops but wanted to lead a smaller unit where he could get to know every Scout personally.

Ron Berman and Bob Grady initially served as Assistant Scoutmaster and Scoutmaster, respectively, of Troop 540, chartered by the Middleton Police Department. However, after a disagreement over the future direction of that troop, Ron and Bob stepped down in late 1977. Soon after, several Scouts from Troop 540 asked them to start a new troop. Following two organizational meetings, a final chartering meeting was held on February 28, 1978. On March 1, 1978, Troop 940 was officially chartered by the Middleton Optimist Club, with Ron as Scoutmaster and Bob as Troop Committee Chair.

On June 6, 1978, Troop 940 held its first Court of Honor. As reported in the Middleton Times-Tribune:

Scoutmaster Ron Berman challenged the Scouts and their parents to make this second three months in troop history even better than the first three months. He emphasized the importance of "keeping the 'outing' in Scouting!"

As part of the ceremony, Troop Committee Chair Sharon Schlough was presented with the troop's initial charter. Jim Cox, president of the Middleton Optimist Club, presented Troop 940 with its first official flag.  This flag was replaced in 2005 when Four Lakes Council was merged into the new Glacier's Edge Council.

Troop 940's first Eagle Scouts, Bradford Cunningham and Brad Schlough, finished their Eagle projects in the spring of 1982. Cunningham organized the removal and replacement of the wood planking on the bridge at Lakeview Park between the pond and Maywood Avenue. Schlough directed the staining of wood panels on light fixtures and other structures around the park. Both completed their Eagle Boards of Review in 1983 and were awarded the rank of Eagle Scout at a Court of Honor on January 31, 1984.

Since Ron Berman stepped down as Scoutmaster in 2008, Troop 940 has been led by three other Scoutmasters, with Jan Cermak assuming the role in 2015. Ron continues to serve Troop 940 as the Chartered Organization Representative and Advancement Chair.