The remains of the Castle can be visited
Heinsberg Castle (Ruin)

The Heinsberg ruin on the Burgberg in the city of the same name represents the largest preserved motte in the Rhineland.
History+
As early as the 9th century, the Lords of Heinsberg established their seat, a so-called perimeter house castle, on the Burgberg. The area, a natural spur of land rising at the edge of the Rur valley, was divided by excavations into Burgberg and Kirchberg, with the Burgberg likely being additionally raised. An artificial separation by a moat separated the main castle from the outer bailey, today's Kirchberg, where the collegiate church of St. Gangolf was later built. In the 12th century, the Burgberg received massive encircling walls.
Source: Wikipedia · Licence: CC BY-SA 4.0
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: 51.0604, 6.0933