Make sure your kitchen printer is moved over into your Kitchen Printer Group and make sure the bar printer is moved over into the Bar Printer Group. If you do not have a bar printer setup yet. Setup a new printer, call it Bar or whatever and set the installed printer to the \\terminal1\Epson-TM20 (something like that) printer.
Kitchen and bar printers must to be set to the full network path for example \\terminal1\Epson-TM20 or \\terminal2\EpsonTM-20. Search through the list of installed printers. Regular receipt printers should always use the regular printer name for example just EpsonTM-20.
Here is a video about it http://www.youtube.com/watch?v=fFzQ5WS7D_8
Hope that helps