The tower is from the 13th century but the additional sculpture is from the 1980s.

location
http://www.google.co.uk/maps/place/Esslingen+(N)/@48.7385834,9.1603386,11z/data=!4m5!3m4!1s0x4799c137b131e9d5:0xa2e9a406f13ce6!8m2!3d48.7385834!4d9.3004143