The excitation of the ion cyclotron wave and the harmonic ion cyclotron waves by injection of a neutral beam is studied as a function of beam injection energy and angle. The fundamental mode is found to be stable for parameters similar to the current and future neutrally injected tokamaks. The harmonic cyclotron waves are found to have growth rates of a few percent of the ion cyclotron frequency when the thermal ion temperature is below a critical level. The results of these calculations are compared to several current experiments.