Hello,
By Default, the SEP clients always try to connect to the SEPM as per the communication settings and Heartbeat Interval set.
If in case these clients for any reason have been deleted from the SEPM Manager, these clients would re-connect to the SEPM.
Symantec Endpoint Protection: The Heartbeat Process
http://www.symantec.com/docs/TECH191617
Understanding Pull mode and Push mode
https://www-secure.symantec.com/connect/forums/pull-mode-push-mode
However, incase if you weren't aware of this issue and the clients weren't away from the network, then you may like to run the SylinkReplacer on the client machines and they would assist these clients to report back to the SEPM again.
The Sylinkreplacer tool for connecting SEP clients to a SEPM
http://www.symantec.com/connect/downloads/sylinkreplacer-tool-connecting-sep-clients-sepm
OR
Follow the Manual Instructions -
How to change a Symantec Endpoint Protection client from unmanaged to managed
http://www.symantec.com/docs/TECH90761
In case these are Imaged / Clonned clients, you may like to check these Articles:
How to prepare a Symantec Endpoint Protection 12.1 client for cloning
http://www.symantec.com/docs/HOWTO54706
How to repair duplicate IDs on cloned Symantec Endpoint Protection 12.1 clients
http://www.symantec.com/business/support/index?page=content&id=TECH163349
Hope that helps!!