I don't think you can, you have to either use library and tape tools, or the front panel screen to get them out of there. After that I would start and stop data protectors services just to clear out the hung up jobs.
You can force DP to eject the tape by choosing the "Devices -> Control -> Busy drive handling" option. When a backup job has finished, the software tells the drive to unload and store it in the library.
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