The abnormality determination system 1 includes a detection device 300 for detecting the rotation of each rotary shaft 48 of the robot 30 and an encoder abnormality detection device 40 for detecting an abnormality in the encoder 30 based on the absolute signal and the incremental signal from the detection device 300 And an abnormality determining device 50 for detecting the abnormality. The abnormality determining device 50 calculates the absolute angle of the rotation shaft 48 based on the change in the rotation angle of the rotation shaft 48 indicated by the incremental signal from the incremental encoder 200. [ When the difference between the absolute angle of the rotary shaft 48 calculated from the incremental signal and the absolute angle of the rotary shaft 48 indicated by the absolute signal from the absolute encoder 100 is out of the permissible range, It is determined that the detection apparatus 300 is abnormal.
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