The utility of ICRF heating in the LHD was demonstrated in the third campaign carried out in 1999. This paper summarizes the investigations made in 2000 with a focus on the optimization of ICRF heating. The flexibility of the LHD magnetic configuration was fully utilized as a key factor in the investigations. The experiments include (a) scan of magnetic field intensity, (b) scan of aspect ratio, (c) scan of magnetic axis shift, (d) scan of quadrupole magnetic field, and (e) cancellation of magnetic island. The performance of the ICRF heating was thus optimized with respect to magnetic parameters, while optimization was achieved mainly with respect to heating regime and wall conditioning in the third campaign. Some of these parameters are directly related to the orbit of trapped particles. Therefore, the relation between particle orbits and the performance of ICRF heating is also addressed in this paper based on analyses of the high-energy tail of ions.