to have been erected around 1000. Thereafter, three major construction periods may be distinguished:
* the castle built under the Salian kings respectively Holy Roman Emperors (1027-1125);
* a new castle built under the Hohenstaufen emperors (1138-1254);
* reconstruction of the Palas as well as various modifications and additions in the late medieval centuries.

The castle lost its importance after the Thirty Years' War