As Brian says, you're going to need to create a FW allow rule, to match this NVR of yours. As it's on DHCP though, I think you'll need to match it by DNS Host, which case you'll also need to allow SEP to perform Reverse lookups as discussed in the below article:
https://support.symantec.com/en_US/article.TECH131681.html
NOTE: This is an old article, and the "Enable Reverse DNS Lookup" option is now in the Built-In rules section of the FW policy.