deutsche Version...

Artists, exhibitors, deliverers and hotel guests park at the back of the castle (no public parking!).
There is the hotel entrance with the elevator (see map).

Elevator

Ground floor (E): reception, castle café
2nd floor: Knight's Hall (Rittersaal)
3rd floor: Rococo Hall (Rokokosaal)

Take a 360° look around the Knights' Hall (new window)

https://www.schlosshotel-kirchberg.de (new window)
https://www.kirchberg-jagst.de/de/tourismus-kultur/einkehr/unterkuenfte (new window)

Arrival with Google Maps to Frankenplatz (see map)...  (new window)
The way to the hotel parking lots and to the delivery at the back of the castle is not shown in Google Maps: follow the arrows on the map!

Arrival as a video (youtube, new window)