Hello,
The most common cause of the continual beeping (which means the servo controller is browning out) is that you forgot to shunt VCC and V+ on the servo controller. A jumper or small shunt needs to tie the two voltages together. This makes both the servo voltage and the logic voltage the same (5 volts).
Another possible cause is failing to supply power to the servo controller. The BEC 5v output has to be attached either to the screw terminals or to an unused servo port to supply power to the servo controller.
A third possible cause is a BEC that can't provide enough power.
In all these cases, the beeps are because the nano is detecting that the servo controller has put itself to sleep due to lack of power. The nano tries to wake up the servo controller by sending the proper I2C signals, but the brownout happens again immediately because the servo controller is not receiving enough power to operate.