A method for programming an industrial robot having a tool. The inkjet ink includes one or more colorants, at least three co-solvents comprising about 18% to about 24% of the composition of the ink by weight, a penetrant, at least one wetting agent, and water. The arms are each adapted to locate a forehead cushion. The width of the carrier runner generally transverse to the side wall is greater than the thickness of the at least one side wall.