Want to know how something works? Harness the power of the Brainiacs!
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The control panel (BKH-2011/2012/2013) has a small piezo buzzer inside that beeps when there's a major alarm (for instance, if the upper drum can't spin). It also beeps once when the system controllers finish initializing, so what you're hearing is normal. If you take the panel apart, there's a trimmer resistor that lets you adjust the volume of the buzzer... and some people like to turn it down. I used to maintain several machines that had the alarm turned all the way off because you could hear it in the studio.