Many people list various ways a D\S relationship and an Abusive one are and all are valid, yes consent, mutual communication, respect, understanding all come into it. But I find the best way to explain the difference is explaining aftercare.
Let me explain,
A D/S scene can, in some cases, very closely resemble an abusive relationship in terms of the control, the abuse, the humiliation. The feelings that "victim/sub" feels in that moment can mirror a real life Abuse Victim, they can be stripped down that low, made to feel that worthless, that this situation is all they deserve. A sub can be made to believe she was in the wrong and deserves this beating and they can be taken to their lowest possible point mentally, physically and emotionally.
Be it last an hour, a day a week or even be part of a full time relationship, at some point the Dom will bring the Sub back from that point, help her recover, help her process the scene, her emotions and feelings and come out of it at least having had a great time, but maybe learning something about herself, becoming stronger, becoming more aware and looking back on the experience with a positive feeling, even if in that moment they truly hated themselves, the dom, the situation etc.
An Abuser never allows the victim time to recover, time to learn, time to become stronger and reflect. They keep there victim down, and hold them there. Even when they apologise or say it wont happen again there is an element of control or refusal to truly let the victim recover back to the same place mentally.
That to me is the main difference between the 2, anything an Abuser does can be part of a DS scene or relationship and in some cases it can even seem the abusers victim can be seen to "consent" to the abuse, this is especially a problem in the DS community, (I didn't know she was being abused, when she was at events it always seemed like she was consenting to total 24/7 relationship with no say, I thought she liked playing without safe words so didn't intervene).
Anyway that is highlights of part of a talk I used to give on identifying the signs of Abuse in the scene.