Both the musuem and the factory ("Werk") are in Stuttgart-Zuffenhausen, I didn't find anything about the factory tour ("Werksführung"), but for the museum: take the S6 (S-Bahn), heading to Leonberg/Weil der Stadt from the main station ("Hauptbahnhof") and get of at Neuwirtshaus. The musuem is only a few minutes from there.