A method of performing maintenance on printheads of an imaging device includes the detection of at least one missing or defective inkjet in a printhead. A first pressure is applied to ink in printheads in which at least one missing or defective inkjet was detected. The first pressure is configured to discharge ink from the plurality of apertures in an aperture plate of the printhead to reestablish fluid continuity through the inkjet. A second pressure is applied to all of the printheads to be wiped. The second pressure is configured to form a convex meniscus at the plurality of apertures in the aperture plate of all of the printheads to be wiped. A single actuator is then operated to move one or more wipers into engagement with the printheads to be wiped. During wiping the convex meniscus is encountered by a wiper to lubricate a printhead and prevent the printhead from being damaged by wiping. The single actuator then retracts the one or more wipers from the printheads.