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For the first time, a three-dimensional simulation of the minority ion heating scenario with ion cyclotron waves on the CN-H1 stellarator was performed using the LEMan code, the full wave solver inside the SCENIC ICRH package. The simulation results provide a reasonable explanation for the edge-peaked electron temperature profile observed in ion cyclotron resonance heating (ICRH) experiments on the original H-1 heliac. A new ICRH scheme for effective ion heating in the CN-H1 stellarator is also proposed. In this scheme, the plasma density near the antenna is increased, the wave frequency is adjusted to match the on-axis cyclotron resonance, and the minority ion concentration is selected within an optimal range of 10%-20%, considering the influences of the left-handed electric field and the number of resonant ions. The simulation results imply that the fast wave can tunnel through the evanescent region into the plasma, leading to effective ion absorption at the resonant surface, where the ion absorption fraction exceeds that of electrons. Meanwhile, significant toroidal variations exist in ICRH due to the unique non-axisymmetric configuration of CN-H1. This research focuses on the unique 3-D configuration and parameter characteristics of the CN-H1 stellarator, providing a new improved ICRH scheme and parameter reference for upcoming ICRH experiments.