Built in: 1532 to 1555.
Sanada Yukitaka offered his service to Takeda Shingen and became one of the 24 samurai of Shingen. After fall of Takeda clan, his son Masayuki, the father of Yukimura, worked Oda Nobunaga, Hojo Ujiyasu, Uesugi Kagekatsu, and Tokugawa Ieyasu. Masayuki became Daimyo under Toyotomi Hideyoshi, and build new castle at Ueda. After that, this castle was deserted.