dh offered to pick SD up in the morning from exw but exw said no. Exw put SD in holiday care at school for the day and told dh he can pick her up in the afternoon. Dh took the day off work and picked SD up in the morning to spend more time with her. So dh got shouted at because dh wanted to spend a bit more time with his daughter.

Your DH was completely out of order and he should never do that again.
Now that there is a visitation schedule established and signed off by the court both he and the exW are obliged to abide by it.
If the exW takes him to court over this breach the judge will reprimand him and possibly impose a sanction that could include loss of visitation privileges or even a custodial sentence for contempt of court.
I cannot emphasise this enough - and it doesn't matter what your H's motives are - he cannot rock up to his exW's home and remove his daughter on a day not explicitly granted to him for contact by the court or without express prior consultation and agreement from the exW.
I repeat, to be absolutely clear - 'wanting to spend more time with his daughter' is not a reason to contravene the schedule established by a court order. There is no reason sufficiently urgent to contravene a court order.
And FYI and for your H's information too, it makes no difference whatsoever whether DD was happy for the day in your home.
Sorry, but you are married to a dick who thinks the law only applies to his exW and not to him.
If he wants more time with his DD then he has to go back to court.
- He needs to petition for the right to phone/skype/email contact during the twelve days she is with her mum.
- He needs to enlarge the visitation schedule to include alternate days off school to be shared between him and his exW.
- Ditto holiday time when she is off school - half term, Christmas, Easter, summer break.
...that is, if he is really interested in creating and maintaining a good relationship with DD. I don't think this is what your H is all about here. I think he is determined to show the exW who is the boss.
If he is only interested in bullying the exW, as he did with the stunt he pulled on Friday, then I sincerely hope some judge will tell him what the courts think of men who cock a snook at their authority.