**Do Not** use ANY kind of tape as a primary fastening device on a rubber roof to secure rigid framed panels.
As mentioned, find studs to drill into. Look at using aluminum Unistrut as a base or frame. Your panel dimensions will not land exactly where the cross members are. A little pricy, but its WAY lighter than the steel version. It's easier to cut and work with and wont look ugly in a few years. I suppose you could even hit it with a coat of white paint to cut down on the little, extra heat absorption. Your choice.
I just added a three more panels to my array using the 2" tall version (only size available) Unistrut, self drilling (not self-tapping) stainless lag bolts, fender washers, 1.5" wide Eterna-Bond tape and Dicor lap sealant. We know Dicor is perfectly compatible with TPO and EPDM. Other sealants...mmm...maybe not. Plus, it's far more pliable to remove or to clean and reapply. Urethanes, like Sika are a little too good at adhering. I don't need that on the roof.
Properly clean and prep all surfaces (denatured alcohol, mineral spirits or sparing use of acetone and Scotch Brite pads work well).
Using a total of six 5/16" x 1.25" bolts, 1/4" pre-drilling all holes was necessary.
Next, cut roughly a 3" long x 1" Eterna-Bond tape and apply over all pre-drilled holes, noting location of hole. Be sure to press down hard across the entire strip of EB. Its pressure activated. Repeat these steps at all penetration points.
Next, Add a large dollop of Dicor onto EB tape.
Center and align corresponding Unistrut slot opening over noted pre-drilled holes. Press down. Allow Dicor to evenly compress and ooze out from under Unistrut.
Install fender washer on bolts. Preferably, using some kind of impact driver, locate hole with point of bolt and drive it in with moderate pressure. It'll just spin otherwise. Stop at about 3/4 way in and use a ratchet to finish by hand tightening. Note: Over tightening or using impact to fully drive bolt may result in stripping. Now, you have to start over. Don't do that.
Once all bolts are installed, apply Dicor to fully cover bolt heads and washers. Done.
Arrange and install panels using Unistrut cone-nut washers or whatever bracket fastening system you choose. The idea is to plan for expansion and only drill holes once. MUCH easier.
Anyone can drill holes, destroy their roof and randomly throw up a bunch of panels.
Somewhat related tip:
You may already know it, but try not to walk on your roof with shoes. I'd rather ruin a few pair of socks than forget to check and track a tiny rock or two. Or in my case, a metal shaving that burrowed itself into my shoe bottom then transferred into the rubber roof. So much so that I felt it might become a water intrusion point, so I put a piece of EB tape over it.
Good luck
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