C.K.
My husband has joint custody of his 7 y.o. son with his wife and I have joint custody of my 7 y.o. girl with my ex-husband. In both cases, AZ (and other states) have laws that keep either parent from taking the child out of state w/o the other's consent.
Your custody paperwork should clearly outline your rights, visitations, etc. If he is failing to share custody per the courts paperwork, he can be cited. Keep a journal of any contact, phone calls, etc. as it will be a record of his not complying.
Contact your court where the custody was filed and explain the situation...I am sure you can get help! Good luck.