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The ACS caseworker can set visitation, etc. unless there is a court order in place prohibiting that or expressly setting a specific visitation schedule. Normally judges prefer a set visitation schedule as it works better for the children to have structure.
Your son's lawyer can file a motion with the court to have the court set the schedule and prohibit ACS from changing it if he likes. I have never seen a judge refuse to do that if requested.
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