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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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NULL
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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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Ghanima
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    Frankly I feel it is much simpler to measure between pins 4 (5V) and 6 (ground). Preferably by attaching jumper leads to the pins and then measuring the voltage at the end of the wires suitably spaced to prevent a short circuit. That works on all the Pis apart from the compute module. – joan May 20 '15 at 21:13
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    True, but like you said you must take precautions to not short the GPIO pins 3v and 5v together. This is a safer way for a beginner I would think. – NULL May 20 '15 at 21:17