diff --git a/draftlogs/6910_fix.md b/draftlogs/6910_fix.md
new file mode 100644
index 00000000000..6b503f2f5b2
--- /dev/null
+++ b/draftlogs/6910_fix.md
@@ -0,0 +1 @@
+ - Fix `insiderange` with category axes [[#6910](https://github.com/plotly/plotly.js/pull/6910)]
diff --git a/src/plots/cartesian/axes.js b/src/plots/cartesian/axes.js
index ba8faae29c4..2d86405eb12 100644
--- a/src/plots/cartesian/axes.js
+++ b/src/plots/cartesian/axes.js
@@ -3907,13 +3907,13 @@ axes.drawLabels = function(gd, ax, opts) {
 
             var anchorAxRange = anchorAx.range;
 
-            var p0 = anchorAx.d2p(anchorAxRange[index]);
-            var p1 = anchorAx.d2p(anchorAxRange[otherIndex]);
+            var p0 = anchorAx.r2p(anchorAxRange[index]);
+            var p1 = anchorAx.r2p(anchorAxRange[otherIndex]);
 
             var _tempNewRange = fullLayout._insideTickLabelsUpdaterange[anchorAx._name + '.range'];
             if(_tempNewRange) { // case of having multiple anchored axes having insideticklabel
-                var q0 = anchorAx.d2p(_tempNewRange[index]);
-                var q1 = anchorAx.d2p(_tempNewRange[otherIndex]);
+                var q0 = anchorAx.r2p(_tempNewRange[index]);
+                var q1 = anchorAx.r2p(_tempNewRange[otherIndex]);
 
                 var dir = sgn * (ax._id.charAt(0) === 'y' ? 1 : -1);
 
@@ -3938,8 +3938,8 @@ axes.drawLabels = function(gd, ax, opts) {
 
             if(ax._id.charAt(0) !== 'y') move = -move;
 
-            newRange[index] = anchorAx.p2d(
-                anchorAx.d2p(anchorAxRange[index]) +
+            newRange[index] = anchorAx.p2r(
+                anchorAx.r2p(anchorAxRange[index]) +
                 sgn * move
             );
 
diff --git a/test/image/baselines/zz-insiderange-category.png b/test/image/baselines/zz-insiderange-category.png
new file mode 100644
index 00000000000..2964d7b2e8e
Binary files /dev/null and b/test/image/baselines/zz-insiderange-category.png differ
diff --git a/test/image/mocks/zz-insiderange-category.json b/test/image/mocks/zz-insiderange-category.json
new file mode 100644
index 00000000000..f7bb097e92c
--- /dev/null
+++ b/test/image/mocks/zz-insiderange-category.json
@@ -0,0 +1,34 @@
+{
+    "data": [
+        {
+            "name": "bar",
+            "x": [
+                "A",
+                "B",
+                "C",
+                "D"
+            ],
+            "y": [
+                50,
+                70,
+                90,
+                35
+            ],
+            "type": "bar"
+        }
+    ],
+    "layout": {
+        "xaxis": {
+            "type": "category",
+            "insiderange": [
+                1,
+                2
+            ]
+        },
+        "yaxis": {
+            "side": "right",
+            "ticklabelposition": "inside top"
+        },
+        "width": 400
+    }
+}