I have an R25, so I can’t help with your exact access point, but I can tell you it’s very close to the air intake. Before you start, I strongly recommend having a gasket kit on hand, it’s easy to tear a gasket when you pull the unit apart, and you don’t want to be stuck without a spare. It’s also smart to have a new igniter available, especially if you’re heading out on a long trip. I think they run around $600, but having one could save you from being miserably cold on the hook or having to head home early.
I’ve cleaned mine twice: once at the dock and once while on the hook. Both times the hardest part was simply removing the furnace from its location, it’s tight, dark, and awkward to reach. Once out, on mine, one wire connection was stuck, so I pulled the unit out and had to worked on it on the cabin table and there was just enough extra wire to do so. There’s also a sensor wire entering one of the ports, so take your time. My furnace is about 10 years old, so yours may differ a bit.
Have plenty of newspaper or something protective to keep things clean. Once the unit is free of wiring, take it to the dock or your shop bench, the actual cleaning is very straightforward once it’s out. Take pictures as you go so reassembly is easy, especially for connectors.
The first time I opened mine, the burn chamber was full of light, fluffy black carbon, and I cleaned it outside on the dock with the burner head still inside the cabin. It can be a dirty job and you don't want that stuff flying around inside the cabin. The second time it was almost spotless and only the igniter needed attention. It had hard a crusty carbon build up. Someone on Tugnuts mentioned always running the furnace on full temperature and then shutting it off, instead of letting it constantly cycle. That cooler burn is what creates the fluffy carbon buildup.
Whatever you do, don’t use sharp tools inside the burn chamber, you’ll create rough spots that collect even more carbon.
Honestly, once you look at the furnace, it’s amazingly simple, and fixing it is much more satisfying than you’d expect.