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Sonos beam got disconnected from my Panasonic tv

Was this an audio dropout, or a physical disconnection, due to the cable becoming disconnected? What type of connection are you using (HDMI/ARC/eARC or Optical).

If it’s an audio dropout and you are using an HDMI-ARC/eARC connection, maybe see if something else connected to your ‘other’ TV HDMI ports is taking the focus of the CEC protocol (VIERA, HDAVI Control or EZ-Sync) Link, whichever version of CEC your TV model is using. Perhaps start by disconnecting the other TV devices and seeing if the issue goes away. Add them back, just one at a time and see if the problem returns. Once the ‘culprit’ is identified then switch off CEC on that one device only, or insert a CEC-Less adapter between the probkem device and the TV. See this example link:

https://www.amazon.com/Lindy-HDMI-Adapter-Female-41232/dp/B00DL48KVI