Media outlets reported that the judge told Williams to stay away from the bodyguard and his family, and away from drugs and alcohol.
Attorneys for Williams said he would surrender his passport while out on bond.
A statement from the Hall County Sheriff's Department said Williams made a threat while an acquaintance beat the bodyguard with a baseball bat and choked him, apparently because the bodyguard didn't engage in criminal activity the comedian wanted him to. Authorities didn't say what that activity was.
The alleged beating happened Feb. 28, and a day later, Williams was accused of attacking an employee at a swimming pool supply store during an argument.
Williams, 44, faces charges of terroristic threats, false imprisonment, aggravated assault and possession of marijuana.
Drew Findling, an attorney for Williams, noted that the arrest came more than a week after the alleged assault.
"I think when it takes nine days to make a determination, that says something about the quality of the case," he said.
He also questioned how a man who is reportedly a bodyguard could be overpowered by a 90-pound woman wielding a souvenir baseball bat.
The comedian, who has appeared in films including "Friday After Next," was taken into custody Tuesday evening, after deputies searched his home in the exclusive Harbour Point neighborhood along the shores of Lake Lanier.
Investigators say they found large amounts of marijuana, along with several firearms inside the home, about 50 miles northeast of Atlanta.
Two women who were at the home also face charges. Tatiana Smith, 24, is accused of beating the bodyguard and choking him. She is charged with aggravated assault and possession of marijuana and an anti-anxiety drug.
Lena Smith, 40, is charged with marijuana possession.
Jail records do not list attorneys for the women.
On Feb. 29, Williams was charged with battery after arguing with a worker at a swimming pool supply store in Gainesville. The worker told deputies Williams went behind the counter and punched him.
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