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Can you describe the noise? Is it a high pitch whine, or a grinding sound?
It could be loose cable/connector for the stepper motor, as that can cause all sorts of strange sounds (usually of the grinding type).
If it's more a constant high pitch sound, it's likely the motors in use since they draw a lot of current to hold position (steppers work funny that way). This can be ignored safely, or reduce the motor peak amps to the motor to quiet the whine a bit (this usually involves modifying the firmware, and can be a bit more difficult sometimes.
Good luck
To add a little bit to this, check if the motor gets hot. If it's not hot then you probably don't need to worry.