The remains of the Castle can be visited
Madenburg Castle

The Madenburg Castle Ruin, one of the largest and oldest castle complexes in the Palatinate, stands on the eastern edge of the Palatinate Forest. It is situated on a rocky outcrop of the Rothenberg.
History+
Madenburg Castle was probably built in the early 11th century as an imperial castle. Its first confirmed mention as "Maddenberg" dates back to 1176. The castle changed hands several times, including the Reginbodones, Archbishop Adalbert of Mainz, Emperor Henry V, the Staufer, and the Counts of Leiningen. From 1372, it became a joint inheritance, with shares held by families such as the Sickinger and Fleckensteiner. In 1470, Madenburg was captured by Elector Frederick the Victorious after a siege. Following further changes of ownership, including to Duke Ulrich of Württemberg and Count Palatine Georg of Speyer, the castle was conquered, plundered, and set on fire during the Peasants' War in 1525.
Source: Wikipedia · Licence: CC BY-SA 4.0 · Image: http://www.wehrbauten.de/thread.php?threadid=1456
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: 49.1685, 8.0085