begin
  select empId
    into id_var
    from t
   where ...;
exception
  when no_data_found then
    null;  -- do nothing, id_var is NULL
    -- or default id_var to some value, however you want to handle it
  when others then
    raise;
end;

begin
  for r in (select ...) loop
    begin
      select ...
        into ...
        from ...
       where ...;
 
      -- do something
 
    exception
      when no_data_found then
        null;  -- this will catch the exception, do nothing
               -- and let the loop continue
    end;
  end loop;
end;