On the title screen go to config and play these voices to unlock the Zoid:

Effect - Code

Unlock Energy Liger - 004 - 044 - 019 - 066 - 034
Unlock Liger Zero Phoenix - 021 - 001 - 018 - 006 - 023
Unlock Megasaurer In VS Mode - 000 - 007 - 077 - 041 - 054