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The ABS system is in need of immediate service. The hard pedal is the ABS/Hydraulics malfunctioning and beeping to let you know. Could be a sensor or module maybe a wiring/connection issue but have it serviced ASAP . A bad vacuum supply to the booster or booster diaphragm can also cause a hard pedal and any could light the warning light.
by removing the battery it is possible to corrupt the CPU program where the alarm is located. Constant removing of the lead fixes it immediately but not the corrupted program. Try using a scanner to reset the program.
1995 GrCher Orvis - I have now just started with the same problem. An incessent loud high pitched alarm sound. Identical fuse, ignition on/off, and ticking issues. Can start jeep, warning sounds as normal followed by incessent tone, I can remove fuse to get quiet, but then when I close the door I get the identical alarm sound, but with a slight pause. Tone. Tone, Tone, etc. I can't figure. Tore through all components of dash: to learn that the alarm seems to emminate from the transmission floor area, and is not in the instrument panel (f up #1) nor is it behind the dashboard (f up #2). I'm stuck now... Anybody got something for me? Is it a transmission warning?
Most likely your alarm system needs reset. When you use the button to turn the alarm on and off the horn beeps and lights flash. Horn beep when switch turned on, makes sense would be in the alarm system with all you've told.