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the beep is a warning of system failure the usual problem is water in the sensors, to test the sensors engage reverse with ign. on and put your ear close to each sensor in turn you should hear a faint ticking from the good sensors, nothing from the faulty ones, the wiring behind the bumper is also prone to burning on the exhaust. hope this helps.
you can check the sensors by putting in reverse with ign on no engine running. and listen to each sensor in turn put your ear close to sensor it should click very faintly any that don't are poss faulty does the sounder emit a error tone one long beep if not check for water in the module located in boot against rear panel.if that's ok the sounder may have gone down
Try to clean rear parking sensors. Check also electric cables and connections, clean if necessary. Commons faults are sensors out of order. If one or more sensors faults you hear only a continous constant noise when you put in "R" gear. You need a VAS, VAG-COM, Bosch KTS, ... diagnosis scantool. The factory parking system will be scaned from errors with this instrument, and you will find exactly which sensors are out of order (for example: rear left center sensor, rear right side sensor break off, short to ground or short to plus).
There is few options.First-reverse switch not working.How to check-switch ign. ON,select Reverse and check reverse lights at back.If not-change switch.If O.K. go to step two: Disconect reverse sensors next to a bumper and check for resistance/any one/,because all sensors are conected in serie.If there is not resistance check all sensors one by one to find a wrong one.And last one-check "beep" speaker