Before you open the form, you can check whether there are any records that meet the condition. Something like
If DCount("*", "YourTable", "[CheckDate]=#" & Me.ShiftDate & "#) > 0 Then
DoCmd.OpenForm "frmDayShiftPrintcheck", , , "[CheckDate]=#" & Me.ShiftDate & "#"
Else
MsgBox "no records"...