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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.
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.
Adjustment of stitch length:
To select stitch length, turn the upper on the left side dial.
The larger the number, the longer the stitch. The stitch length cold be adjusted from 1 to 5 mm. Position "R" is for rolled and narrow hemmings.