—This paper considers the problem of joining a network of constrained IoT devices. We propose to take advantage of Singer Cyclic Difference Sets (S-CDS) for a joining scheme that results in low duty cycles and apply the proposed scheme to the joining problem in 802.15.4e TSCH networks. S-CDS distributes the active periods of nodes over time so that a joining node does not suffer from long scanning periods in contrast to other schemes. We compare S-CDS through simulation with other state-of-the-art schemes adapted to TSCH networks. The comparisons show that S-CDS achieves a better trade-off between energy consumption and joining delay than the best joining schemes while being particularly suitable for devices with strong energy constraints such as energy harvesting nodes.