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Your daughter will have to file a motion to terminate the temporary custody order and seek a continuation of her custody rights.
If the father is willing to fight this out, your daughter really needs an attorney to help her maintain custody of her son.
Yes, courts do this often - he likely filed an emergency motion for temporary custody without notice. These matters are usually only granted if the moving party proves to the judge that the child is in danger if it is not granted. Who knows what he told the judge in order to get the custody order signed.
Her relief is to file a motion to cancel the order as I stated above. She can inform the judge that nothing was done wrong and that the father misrepresented the situation to the judge.