You have a Dicor EPDM rubber roof so Dicor products are recommended if you choose to use specialty maintenance products.
The following information can be found on the Prime Time web site in the FAQ section:
The only maintenance to the rubber roof itself is washing it a few times a year. Most standard household detergents are appropriate (avoid petroleum based solvents, harsh abrasives or citrus based products) to clean with warm water. Keep debris cleared to help avoid stains.
Good luck and happy camping!