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The three beeps mean that the lens motor is unable to extend the lens assembly. This could be due to a low battery situation, but the most likely cause is the lens drive train stuck or jammed. You'll find generic instructions on solving some cases of jamming here. http://camerarepair.blogspot.com/2007/12/fixing-lens-error-on-digital-camera.html
Unfortunately, more serious cases (due to falls, shocks, and most of all, the camera being turned on while some resistance prevents the lens from extending: e.g., if the camera accidentally turns on while in a pocket) require the repair shop.
If the lens on the camera is stuck out,
look to see if it's a little crooked. If it is, try to gently straighten it.
If it still won't retract, try to gently push it in as you turn the power
on. If it won't turn on (the green light blinks and it beeps 3 times) push
and hold the 'power' button and the 'play' button at the same time for a few
seconds - it worked for my S730. Good luck!