A magnetic substance holding device includes: a first pole piece assembly comprising at least one first pole piece, at least two second pole pieces, and at least two first permanent magnets; a second pole piece assembly comprising at least one third pole piece, at least two fourth pole pieces, and at least two second permanent magnets; a coil; and a control device. The first pole piece assembly and/or the second pole piece assembly is configured to be movable such that they are switched between a first arrangement in which the second faces of the first pole piece assembly are spaced apart from the first faces of the second pole piece assembly, and a second arrangement in which the second faces of the first pole piece assembly come in contact with the first faces of the second pole piece assembly. The control device controls holding and detaching of a workpiece on and from the first faces of the first pole piece assembly or the second faces of the second pole piece assembly, by way of controlling electric current applied to the coil to switch between the first arrangement and the second arrangement.