An insertion apparatus includes an inserting section, a rotary cylinder, a motor, motor control section, a moving average calculating section, and a torque limit determining section. The inserting section is formed along a longitudinal axis. The rotary cylinder is provided to be rotatable around a longitudinal axis of the inserting section. The motor rotates the rotary cylinder. The motor control section supplies a motor current to drive the motor. The moving average calculating section calculates an average of the motor current within a predetermined period, after the motor starts up. The torque limit determining section determines whether torque of the motor is in a limit state by comparing a calculating result by the moving average calculating section with a predetermined torque limit set value, at timing except startup of the motor.
