Generally, a VS pump on a in-floor cleaning system will not realize much of an energy savings because an in-floor cleaning system requires high pressure and flow rate which means you will be running the VS at close to full speed most of the time. The less you run the in-floor, the more energy you will be able to save.
As for the RPM when using the cleaner, about the only way to determine that is with trial and error. Try 3000 RPM and see if all the heads pop up and the cleaner is working properly.
As for when you are not using the cleaner, 1000 RPM is the most efficient but it may not be enough pressure for the pressure switch in the heater so you may need to experiment some or adjust the pressure switch.
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