I have an order of proctection against my husband for me and my children. Is there another way to set up visitation without filing for a divorce?

My husband was having severe bipolar issues and refused to see a doctor. He became dangerous and destructive for me and children to be around-hence the order of protection. He has now started seeing a doctor and is taking medication for his bipolar, so I was trying to see about how to set up visitation without having to get a divorce or if the only option to set it up at this point is within the divorce. I do not want him to have unsupervised visits yet because he is still early in his treatment but I do want my children to have a relationship with their father.