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Good afternoon. The court order is still in effect and controls. As such, you can not overrule the Judges order and allow him visitation when it has been suspended. In a situation like this, he would need to go back to court and seek to have the order modified. He would likely need to be re-evalauted and show the Judge that the mental health issue have been resolved and he is now stable. If the court is convinced of this, they can reinstate his visitation. You are taking a risk of violating the court order by allowing him to see the children, which you do not want to do.
I just wanted to follow up and see if you had any other questions or concerns. I am here to help so please just let me know.