Access the drawing you want by using the document / drawing tab, and use the tags so you easily can select the drawing you want.
In the bottom left corner of the drawing you will find the "Go to model" icon, and you will be taken back to the 3D model. When you open the document tab again, the drawing you left before you moved to the 3D model, will appear.
This is illustrated in this video:
In the bottom left corner you will find the "Exit to model" icon.