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Agent needs to be installed on all the machines which you wanted to manage from ePO including ePO also.
question, why do you need Agent on ePo server? or i just missed somethink?
Normally i'd expect the ePO server to be running endpoint software too - VirusScan for example.
Why would you *not* want to protect it ?
Installing VirusScan automatically installs an agent anyway, since that controls the dat updates (among other things). The only difference is if it's an agent managed by an ePO server or not.