If I were you I would;
Go to court as asked and get a PPO (even if you have to use keeping him away from the grandkids as an excuse)
See a DV couselor (what has been happening with him is DV)
File for separation or divorce, whatever it is you can get right now
Get an temporary order to maintain status quo (to stop him from emptying his accounts further)
You need to keep him away so you can get strong enough to keep him away for good.
Put a fraud alert on your credit reports