ok, so i checked this is the FAQ section first.
I got the beeping under the dash, its the 3 beeps one.
I can read what its beeping for, the stepping motor signal, but I have no idea what that is or what i'm looking for to be bad....

can someone explain?

 

Considering your profile states that you drive a series four TII, you don't have a metering oil pump stepper motor. The S4 models use a mechanical MOP... It isn't associated with any sort of electrical.

 

It usually means you are low on power steering fluid. That's what mine does S4 T II. Check the reservoir. 3 Beeps is that. 5 beeps is the steering wheel sensor is out of alignment.