Well the only ways I know of is when it beeps for no reason you either give it a time out or praise it and when it turns your back on you praise it. Someone said that when they poop you should give them a time out but that doesn't work.
Ok. there are 2 ways to praise it. when it has turn your back on u, praise it. also at baby and kid stage, when it is crying, praise it. and if it beeps and its doing nothing, punish it. simple as that.