The characteristics of ion cyclotron range of frequencies (ICRF) minority ion heating with a hydrogen minority and deuterium majority plasma were studied by ICRF modulation injection experiments in the Large Helical Device (LHD). In recent experiments with deuterium plasma, no significant increase in the neutron emission rate due to ICRF second harmonic deuteron heating was observed. Therefore, in this study, the neutron emission rate was used to refer to the information regarding the thermal ion component. Like the results of the observations of the heating efficiencies at various minority proton ratios, the experimental results showed good agreement with the simple model simulation of ICRF wave absorption. During these experiments, the accelerated minority hydrogen ions were observed by neutral particle analyzers. The counting rates of the energetic particles were higher in the lines of sight passing through the helical ripple than across the magnetic axis, and the counting rate decreased as the minority hydrogen ion ratio increased. The dependence of the minority hydrogen ion ratio on the density of the energetic ions was consistent with the experimentally observed heating efficiencies and simulations. The heating efficiency of ICRF minority ion heating could be well explained by simple model simulation in the LHD deuterium experiment.