Hello and thank you for contacting us. This is Dwayne B. and I’m an expert here and looking forward to assisting you today. If at any point any of my answers aren’t clear please don’t hesitate to ask for clarification. Also, I can only answer the questions you specifically ask and based on the facts that you give so please be sure that you ask the questions you want to ask and provide all necessary facts.
I noticed your question had been online for a while and no one had responded. I didn't want you to continue waiting.
It's likely no one answered because there is no form letter to send to the judge for what you want and, in addition, you aren't allowed to send letters to the judge about the case and the judge isn't allowed to read them, accept telephone calls, etc.
If you want to modify the terms of an injunction/TRO then you have to file a formal motion to do so and I'm not aware of any forms online for that since they are so rarely used. Attorneys draft them from scratch or use ones in their files.
You also have to have a hearing on the request after filing the motion.
In this case, you really need an attorney to assist you both in the filing of the motion and in the hearing because a part of the reason for wanting the change is medical related and so you will have to call one or more doctors to testify both as to your husband's condition as well as to the medication causing the problem before and reassuring the court that it will not happen again.
You can contact Legal Aid if you can't afford an attorney, you can find the closest Legal Aid office in your area by running a Google search, and if they can't help you then you can contact the State bar and ask if they have a list of attorneys in the area who do pro se family law work.
I wouldn't think that this will cause CPS to try and remove the children since you are going through the court to try and modify the order. If you were just ignoring the order then they might but going through the courts is the correct method so it's unlikely to cause an issue.