A maintenance system for a printhead is provided having a support frame, a wiper module supported by the support frame, a lift mechanism for lifting the wiper module from the support frame, and a rotation mechanism. The wiper module has a wiper roller on a rotatable shaft and a porous material about the shaft, and a transfer roller in rotatable contact with the wiper roller. The lift mechanism lifting the wiper module to position the porous material of the wiper roller against the printhead. The rotation mechanism rotates the wiper and transfer rollers so that the porous material of the wiper roller rotates against the printhead. The porous material is configured to absorb fluid from the printhead during rotation, and so that the fluid absorbed by the porous material of the wiper roller is transferred to the transfer roller.