Dear Mayuri,
Now a days, feeding aadhar number of employee and their family members is only required. You have to enter this details using employer ID in employees account. If ESIC number is aadhar enabled then ESIC pehchan card is not required. If employee doesn't have aadhar card then first you have to fill all details in their number and take printout of TIC and then ask the member to take that TIC and visit ESIC office of your area for ESIC card. If employees are in more numbers then you can contact your nearest ESIC office and they can even come to your location for ESIC card.
Regards,
Manish