Jeff,
Jeff, you've got a problem: "Energy-efficient" and "in-floor pool cleaning systems" are not phrases that go together, unless the sentence also includes the word, "not".
When you have to deliver 19+ psi AT THE PIPE END, instead a normal 3 - 4 psi . . . your pump HP requirements, and your electrical bill are going to be high!
There's really no way to be efficient AND use your Caretaker system. Their mode of operation is intrinsically 'expensive' in terms of energy. Having a VFD motor won't change that.
I don't recognize a Hayward "2.0THP RS" pump, but the VFD pumps from Hayward, PentairPool and others are not all that efficient on their wet end. They are not even especially efficient on their electrical (motor) end when compared to a PROPERLY sized and selected standard 2-speed pool pump. What they are, is genuinely multi-speed, which allows pool builders (and pool designers) who don't know how to calculate pool hydraulics, to put in a 1-size-fits-all pump, and then adjust it to the pool. And, a VFD pump WILL usually be more efficient than a BADLY sized and selected 2-speed pump.
No pool pump, running on low speed, whether it's a VFD or just a 2 speed, is going to deliver 20psi at the Caretaker heads!
I'm going to ask Mark, a regular contributor here who has very strong hydraulic knowledge, to take a look at this, but I think what I've told you is correct.
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