The Limes Tower stands on the 536-metre-high Heidenbuckel in the forest near Großerlach-Grab in the borough of Rems-Murr. In the year 1892 the foundations of a watchtower with a square ground plan (approx. 4 x 4 m) were excavated on this site. The design of the c. 15-metre-high reconstruction of a Roman tower is modelled on the bas relief on Trajan's Column in Rome.
Today's Limes Tower was built in 1981/82 and was the first replica of a stone Limes tower to be constructed in Baden-Württemberg. The tower in the vicinity of Grab was one of the main bench marks on the outer course of the Upper German-Rhaetian Limes.