While cycloid pin-wheel precision reducers (referred to as RV reducers) are widely used in industrial robots, a widely accepted design standard or verification method of their test platforms is not available. In this study, a comprehensive sliding-separation test platform of RV reducers was developed. The test platform can test various measurement items such as transmission error, static measurement of lost motion, dynamic measurement of lost motion, torsional rigidity, no-load running torque, starting torque, backdriving torque, and transmission efficiency of the RV reducer for robots. The principle and method of dynamic measurement of lost motion tests based on the two-way transmission error method were studied and this test function was successfully integrated with the comprehensive test platform in order to increase the test items of the dynamic performance parameters of RV reducers. The measurement results of the no-load running torque of the RV reducer were consistent with the Stribeck curve. Based on the concept of optimal measurement speed, a decomposition test method of the geometric component of the dynamic measurement of lost motion and the elastic component of the dynamic measurement of lost motion was proposed in the dynamic measurement test of lost motion. Through precision calibration, function test and repeatability test, the results were compared with the data of enterprise’s samples. The consistent results have proved that the test platform met engineering requirements and measurement accuracy requirements. Based on the new test principle, the developed platform can test more parameters of RV reducers with high precision and display the comprehensive test performance.