Inchworm piezoelectric ceramic motors (IWPECMs), known for their small size, long stroke, nanopositioning,and large thrust characteristics, are widely used in integrated circuit equipment and precision motionplatforms. However, current IWPECMs struggle to achieve high-precision positioning and controllable displacementand velocity over long-stroke movements with existing drivers. As a result, they cannot be applied to 7 nm technologyintegrated circuit (IC) chip testing equipment that requires high speed and nano-positioning. To address theseissues, a dual-mode driver is proposed and developed. This dual-mode driver includes displacement-voltage and velocity-frequency modes, which are based on the principles of charge and stress effects, respectively. The slidingmode control (SMC) method is used to reduce the voltage ripple when the dual-mode driver outputs high voltage,thereby improving the displacement resolution of the IWPECM. Finally, the hardware performance and dual-modecontrol of the driver were verified through experiments, further testing the performance of IWPECM.