Onkelos the convert was a disciple of Titus, who was a Tanna of the Beraita in the chapter of the seller of fruits [(Baba Batra 99a)] regarding cherubs as toys. He received from Rabbi Eliezer and Rabbi Yehoshua [(Megillah 1:1)] and translated the Torah from them. [And so it is written in the Chain of Tradition (28) and it was found written that he was then a G"R in the year 568]. And in Rashi on the second chapter of Kiddushin [(49a)] it is stated that Onkelos, when he added, did not do so of his own accord; rather, it was given at Sinai, but he praised it and returned to its foundation [(and see Semag, Actions, section 19), and in Tzemach David, Chiya ben Abba, G"R 580, and in Meor Einayim, p. 85, it is written that Onkelos who translated the Torah is not the disciple of Titus, for he converted in the days of Hillel and Shammai and lived a long life.
And see Zohar, Acharei Mot, that Hillel and Shammai told Onkelos not to reveal to him matters of the Torah until he would convert. And see Yonatan ben Uziel who translated the Prophets (therein, and see Akilas the convert). And it is written in the Responsa of Small Laws, part 2, section 190, that the translation of the Torah and of the Prophets is the Halakhah from Sinai, but the translation of the Writings is not Halakhah from Sinai, but rather Yonatan ben Uziel said so.
And see Tosafot Megillah [(21b)] on the words "and in Megillah," for Yonatan did not do it except from the days of the Tannaim].
Seder_HaDorot,_Tanaim_and_Amoraim.266:1