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As shown in this question, for the Raspberry Pi model B, in order to measure the voltage you just connect a multimeter to the TP1 and 2 pads. How is this done on the Raspberry Pi model B+ and 2 which are not labeled?

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Although not as conveniently this can also be done on the raspberry pi B+ and 2 by connecting the Vcc (red lead) of the multimeter to PP7 on the bottom of the board and Gnd (black lead) to PP3.

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