A rotary encoder includes two first detection units disposed at positions that are symmetrical about a rotation axis, each of the first detection units outputting an incremental signal, and second detection unit that outputs an absolute signal φA. The rotary encoder includes a storage unit that stores a plurality of formulas for correcting errors of the incremental signals, the formulas being different from each other in accordance with the signal φA, and the errors being generated due to eccentricity; a calculation unit that calculates a corrected phase φI by performing operation on the incremental signals by using one of the formulas corresponding to the signal φA; and a generation unit that generates a rotation angle of the scale on the basis of the phase φI and the signal φA.