Iiwa 7 R800 HRC handguiding

Hello! Below are screenshots. ESM 1 is the active handguiding, and ESM 2 is inactive. when I run the program in automatic mode, the handguiding mode starts. Then I press the start button of the program so that the robot continues to move without handguiding. But the robot does not come out of handguiding. After exiting the program, the robot also remains in Handguiding mode and it is impossible to launch any application. You can get out of it only by deactivating the security system with the smartPad.
What is the problem? How to interrupt HandGuiding mode?