The remains of the Castle can be visited
Helfenberg Castle

History+
The origins of Helfenberg Castle date back to the Staufer period around 1250. It was first documented in 1259 in connection with Albertus de Helfenberg. In the early 14th century, the Helfenberg family already sold some of their possessions. The last known representative of this family was Hans von Helfenberg in 1354. The inheritance of the Helfenbergers was later divided between the Lords of Sachsenheim and the Lords Sturmfeder. In the 15th century, the entire castle came into the possession of Konrad von Hohenrieth, who sold it to Württemberg in 1456. As a Württemberg fief, the castle changed hands through various noble families from 1457 onwards. In 1525, a co-owner, Wolf Ruch von Winnenden, was murdered during the Peasants' War. Philipp von Wittstatt expanded the castle in 1579. The castle was destroyed during the Thirty Years' War but was restored under Peter von Pflummern.
Source: Wikipedia · Licence: CC BY-SA 4.0 · Image: https://commons.wikimedia.org/wiki/File:Ilsfeld_Ruine_Helfenberg_2_20061126.jpg
This description draws on the facts documented in the linked Wikipedia article; Wikipedia content is licensed under CC BY-SA 4.0. Wording and editing: Mobile History.
Location: 49.0633, 9.3122