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We previously only had PS2 & PSP shipments rounded off to 1m, now we have more accurate figures rounded off to 100k, along with software shipments, through June 08:

PS2 HW: 131.3m
PS2 SW: 1.4b

PSP HW: 41.3m
PSP SW: 169m

We already have PS3 figures accurate to 10k:

PS3 HW: 14.41m
PS3 SW: 94.00m

Link

Update through September will be released in around fourteen and a half hours time.