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Step-by-step build — 6 steps. Also available as a print sheet.
Measure your headboard and footboard heights and find the difference between them. Your headboard-side posts are cut to a baseline length (24" is typical); your footboard-side posts are that same baseline plus the difference you just measured, since the canopy frame needs to sit level even though the two ends of the bed are different heights.
Drill a hole in the center of the bottom of each canopy post, sized to the wood-screw end of your hanger bolts. Screw the hanger bolt in, using glue to lock it in place.
Screw the posts into pre-drilled holes in the headboard and footboard. Tighten until snug — but don't torque so hard you break the glue bond inside the post. Adjust each post so it lines up with the bed's legs below it.
Predrill and screw the canopy top and bottom rails to the tops of the posts using at least 3" screws.
Screw the angle brackets to the canopy side rails, predrilling with flat-head screws. Rest the side rails on the canopy ends, resting on the brackets, and screw in place so there are no visible screw holes on the outside faces.
Sand and finish as desired — finishing the pieces unassembled and bringing them into the bedroom to assemble afterward is easier than finishing in place. Before use, check every hanger-bolt and bracket connection is snug, with no play at the joints.