Any Unknown or Unlisted Aircraft Manufacturer
Flight Crew Instrument
Communication Breakdown; Workload
ATC Issue All Types; Deviation - Altitude Crossing Restriction Not Met; Deviation / Discrepancy - Procedural Clearance; Deviation / Discrepancy - Procedural Published Material / Policy
General None Reported / Taken
Procedure; Human Factors
ATC told us to plan for the ILS19 circle to runway24 after the JAIKE3 Arrival to TEB. When we were 8.5 miles from the airport the controller asked if we were able to take a left downwind to runway24 and we complied with the heading instruction for the left downwind to runway24. After a couple seconds controller asked if we would like runway6; and gave us heading 090 to intercept the localizer; at this time we were at 2;000 feet. Since we were so close the controller added: fly direct TORBY and cleared for the visual approach to runway6. We were changing the FMS for the different runway but we were so close to the runway and ATC told us that we were supposed to cross DANDY at 1500 feet but we were cleared to TORBY for the visual and we were at 1800 feet. Everything happen so fast; but ATC changing our approach three times so close to the airport was the reason we did not comply with the altitude restriction.
Pilot reported failing to meet altitude restriction altitude after being cleared for a visual approach following two runway assignment changes.