How do you mean, he won't comply?
I warned my exh through friends that if he set foot past my gate I would call the police.
Can you chat to police about whether this is viable?
Originally the arrangement with my ex was that he would pick up the dc at the end of the road at a specific time.
As he managed to get my address out of the dc,he now picks up outside the house and chooses to text the dc to show he has arrived.
My "trick" with extremely controlling exh is to let him think he has a choice.
So you can say pick ups/handovers will now be handled without interaction between you.
Ask him by email (nicely, remember you can produce this in court) what suits him best, the dc going out at a specific time (which means he myself be there on time or early) or him texting the dc, or someone else picking them up or a neutral drop off point or another suggestion.
He won't like you laying down the law at all, my exh always goes crazy at that, but give him choices.
You could also state that you have installed cameras on your property in light of the threats and abusive behaviour and he is to no longer set foot on your property or you will call the police.
That way it's down in writing and you can show that you warned him very calmly about the arrangements and HE is the unreasonable one not complying.
I get the feeling that your totally legitimate fear and confusion due to his abuse has ended up with him seeming to the court to be the reasonable calm one.
You need to stop this right now and take back the control.
My ex tried to claim all kinds of things about me but I kept all my emails totally calm and factual and even polite (I ask after his mental health each time which drives him crazy!).
The judge complimented me on how polite and reasonable I had been and it made exh look crazy.
If you are going to be calling the police regularly, (and I suspect you will at the start) you need to come across as the reasonable one looking out for your DC's rights.