The most recent "installed base" and "tie ratio" numbers are:
Cumulative Installed Base
PS2: 24,433,000
Xbox: 9,367,000
GCN: 7,672,000
GBA: 22,579,000
LTD Tie Ratios (Avg number of games bought per each console unit sold)
PS2: 8.52
Xbox: 7.01
GCN: 6.68
GBA: 3.67
On a modern console game, the hardware maker earns about $10 from royalties. I think the GBA earns less than that, and "greatest hits" titles also earn less, but $10 is just a convenient ballpark number.
So looking at the tie ratios, Sony has made $85 on every PS2. But Sony typically sells their hardware (both PSone and PS2) at roughly a $50 loss (Sony will never give us an exact number on that, but it's "heavily rumored"). So Sony has essentially only made $35 on every PS2.
Microsoft has made $70 per-XBox in royalties, but they're said to lose $100 on the hardware, so they're down $30 for every XBox.
Nintendo has said that at the time of price drops, they lose "single digit" (less that $10) money on the hardware. The rest of the time, they're making small amounts of money on it, so lets just say they're breaking even. So Nintendo makes $67 on each GameCube.
The GBA (like the Cube and the N64) isn't sold at a loss, so it gets $37.
So, multiplied by the "installed base" numbers, the PS2 has earned $855 million in America. The XBox has lost $281 million. The GameCube has earned $514 million. And the GBA has earned $835 million.