I'm unsure how a IAC caused a low voltage problem. How did you determine the IAC was bad?
As
Fun Times mentions the one beep a minute can be caused by many things. If you look in your owners manual it may list what items.
But the trouble with trying to diagnosis this warning that way is pretty tough. I quoted your comment about the lube level to try to make my point.
Even though the bottle is full doesn't matter at this point because what matters is what the PCM thinks the level is in the bottle. And if the sensor or wiring is bad, the PCM could read that as a problem. And set the horn.
The lube monitor is one of the easiest circuits to diagnosis. But you could spend hours and hours checking all the possible circuits only to find out that a diagnostic program is required.
P.S. Your engine has an open recall from 2010 that should be addressed. ---- 2010-11R2