Thank you for your reply.
I followed your advice and added a process for when the file field is empty and it works as desired.
add_filter('cf7_2_post_metafield_file', 'change_meta_field_file_format', 10, 6);
function change_meta_field_file_format( $file_format, $attachment_id, $post_id, $post_field, $form_field, $cf7_key ){
if ( empty( $_FILES[$form_field]['name'] ) ) {
return '';
}
$file_format = $attachment_id . '_' . $form_field;
return $file_format;
}