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Sounds as though the state is moving to terminate your daughter's parental rights. This is as bad as it sounds. CPS doesn't make decisions like this, they ask a court to decide. If I were in your shoes I would be figuring out whether your state provides a public defender to parents in dependency cases, or if you want to help pay for your daughter's lawyer.
Dependencies are best addressed by a criminal defense attorney who has handled dependencies before.
A "caretaker paper" doesn't have the same effect as a third party custody order where a court orders that the child be in your custody. You really don't have anything.
I would strongly recommend that if you do not want your grandson in foster care that you show up for this hearing. Unless you have been served with a summons and complaint you are not required to attend, but the Court will think you are not interested in what happens if you don't show up. So sorry to hear this is happening to you. Hope this helps, and I hope this all turns out all right. XXXXX XXXXX