On paper, I would say: "Most definitely!!!" However, things aren't always the way we see it on paper!!! ;) Let's see... 400 parts per hr. per 8 hr. day = 3200 parts and the difference between projected and actual is on average somewhere between 600-800 parts short of actual productivity from projected which means that you're losing on average of anywhere between one and a half to two hours worth of production per day and that needs to be accounted for as it adds up when one starts to consider weekly, then monthy productivity... You definitely need to find out why!!! ;) :) ;)
The easly way you can figure that one out is as Jeff mentioned, to do a revised time study... This time instead calculating what your robot is capable per day, calculate it down to the hour instead, and this way one can clearly distinguish the discrepancy on an hourly basis with respect to the shortfall of the daily output of what you currently produce which 600-800 less than projected... I would also check again what time it takes per part unit cycle to complete within the cell just to make sure everything is indeed "copastetic!"
You also need to consider any gaps in delivery of parts to the cell as well as any maintenance down time within each shift including any changes in wire spools or downtime from refilling the shielding gas to the cell, etc.
And if you already know how much time it takes to complete one complete cycle in the cell, then it shouldn't be too complicated to see where they're clearly slacking, or there is indeed a logistical logjam within the flow of your materials/components to the cell causing delays also... In other words every aspect of production has to be considered including parts delivery to the cell along with every other factor you already previously mentioned as well. ;)
Respectfully,
Henry