Widebody; Low Wing; 2 Turbojet Eng
Flight Crew Multiengine; Flight Crew Air Transport Pilot (ATP); Flight Crew Instrument
Flight Crew Last 90 Days 210; Flight Crew Type 517
Situational Awareness
ATC Issue All Types; Deviation - Track / Heading All Types; Deviation / Discrepancy - Procedural Clearance; Deviation / Discrepancy - Procedural Published Material / Policy
Air Traffic Control Issued New Clearance; Flight Crew Became Reoriented; Flight Crew Returned To Clearance
Human Factors; Procedure
We were descending on the PEEKK 3 RNAV Arrival into DEN. At around 17;000 ft we talked to Approach Control and were given the RNAV (RNP) Z 16R. We were expecting the ILS 16R; so the new approach was entered and briefed. Around the same time and in the descent to 11;000 ft we received multiple airspeed changes by ATC. At 11000 ft at CEPEE aircraft did not turn on course to AAGEE; but instead continued on a 353 straight ahead course line. We made a manual heading change to follow the correct course within a couple seconds of passing CEPEE. ATC then canceled the approach and gave us a vector to intercept a visual final for 16R. We intercepted final and landed 16R.
Air carrier First Officer reported a track deviation occurred on arrival into DEN; citing a late clearance change as contributing.