The Stadtmuseum is housed in the Burgschloss, a moated castle at the edge of the old town that dates in its current form from the sixteenth century. The museum covers the history of Schorndorf and the surrounding Rems Valley from Roman times to the present day, with particular attention to the town's role as a centre of craft production and trade in the early modern period.
The castle itself is worth seeing even if the collections are not your primary interest. The moat is intact, the courtyard is handsome, and the building gives a good sense of the scale of ambition in a prosperous Swabian town of the Reformation era. The museum is closed Mondays; otherwise opening hours are standard for a German regional museum.