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You'll need stitch pattern 01 in the first group after you press the utility stitch button (top button on the left of the 4 way arrow keys). Press button A (the left most up-arrow below the LCD screen). Use buttons B (move left) & C (move right) to select the needle position and D (shorter) & E (longer) to adjust the stitch length. E is the right-hand button in the group. Start with the tension set to Auto and adjust as needed based on your fabric and thread. For normal straight seams, start with the default settings.
It appears that your machine basically does variations of 2 stitches: straight stitch and zig-zag, plus buttonholes. Take some time to learn your machine by downloading the Workbook (Wkbk) and working through it doing the various stitches on your machine. You will eventually figure out how to combine different selections to achieve the stitches you want. The owner's manual will show you which basic settings will make which stitches.
A BASTING STITCH IS ONLY A LONG STRAIGHT STITCH. THE NUMBER THAT IS LOWER IS A LONGER STITCH (FEWER STITCHES PER INCH). YOU WERE LIKELY MOVING YOUR NUMBER HIGHER. AFTER YOU GOT TO A CERTAIN NUMBER IT NO LONGER QUALIFIES AS A BASTING STITCH BUT A STRAIGHT STITCH. USE A LOWER NUMBER AND IT WILL LIKELY TO STOP THE BEEPING.
Have you selected the proper stitch. Look at the decorative stitch line 1,2,3,or 4, then the number above the stitch. Your screen should say 1:24 for line one, stitch 24. Make sure you are using the recommended foot. Embroidery unit is disengaged. Then makes sure you have selected the proper weave or thickness of material button. If it still won't sew, try a different type of fabric button and try that. This will change the tension. The tension could be too tight or too loose for that stitch.
If you go to the Singer site, under Support and Resources, it will tell you how to find your model number. However, I need to tell you that while you might think you have a valuable antique, chances are it is not worth much if anything. There are LOTS of older machines like that on the market. The needles and bobbins they used are no longer in use, and while they're available, they're expensive, especially for a machine that only does straight stitching.
I'm not sure what you've actually got, since your question mentions two different machines. Straight stitch is typically the default setting (the thing that comes up automatically) on computerized or electronic machines. On other machines, there may be an indicator for straight stitch (often stitch 0 or 1 if numbered), or it may be a zigzag stitch of width 0, length whatever.