Embraer Undifferentiated or Other Model
Confusion; Communication Breakdown; Situational Awareness
ATC Issue All Types; Deviation - Altitude Crossing Restriction Not Met; Deviation - Altitude Undershoot; Deviation / Discrepancy - Procedural Clearance; Deviation / Discrepancy - Procedural Published Material / Policy
Air Traffic Control Provided Assistance; Flight Crew Returned To Clearance
Human Factors
We were instructed by ATC as we heard to cross Palmdale (PMD) at 13;000 and continue descend via JANNY 5 Arrival except maintain 8;000. We planned and continued our descent based off crossing Palmdale (PMD) at 13;000. According to ATC once we were notified of the error we had made according to them we were supposed to descend via; then cross Palmdale at 13;000 and continue descending via except maintain 8;000. Between both Pilot in Command and Second in Command we both didn't have doubt of the instructions so for this reason we didn't call ATC to clarify.
Reporter stated that they had programmed the FMC to cross PMD at 13;000 feet with no restriction at KOPLE; the previous fix; which was the clearance that the crew believed and agreed was issued. KOPLE has a listed mandatory crossing altitude of 14;000 feet on the JANNY 5 Arrival. Reporter stated that the FMC programming; based on their belief of what the actual clearance was; put them approximately 1;500 feet high; or about 15;500 feet MSL; at KOPLE.
Embraer First Officer reported receiving a different clearance than ATC later told them had been issued; thus causing a missed crossing altitude restriction.