A state judgment device includes: a data acquisition unit which acquires data related to an industrial machine; an energy state calculation unit which calculates an energy state related to driving of units of the industrial machine on the basis of the data related to the industrial machine acquired by the data acquisition unit; and an abnormal state estimation unit which estimates, on the basis of the energy state related to driving of the units of the industrial machine calculated by the energy state calculation unit, whether operation of the industrial machine is normal or abnormal.