In [*VOY: Prime Factors*][1] the crew answer a distress call from the Sikarians. They turn out to be extremely friendly, bordering on Risian. 

In [*VOY: The 37's*][2] the crew answer a distress call and find various preserved humans. Despite a slight misunderstanding  with the planet's inhabitants, they turn out to be entirely friendly.

In [*VOY: Lifesigns*][3] the crew answered a distress call from a Vidiian scientist. She turns out to be benign and doesn't attempt to steal their organs.

In [VOY: Macrocosm][4] the crew answer a distress call from a Garan mining colony regarding a medical emergency. When they arrive, the find that they're *actually* suffering a medical emergency. 

In [VOY: Unimatrix Zero][5] a group of Borg drones request that the Voyager render them assistance (via Seven-of-Nine). They don't seem to have any ulterior motive other than wanting freedom from slavery.

In [VOY: Nothing Human][6] the ship responds to a distress signal from a wounded alien. Although it appears to have attacked Torres, it turns out that its unaware of the damage it's causing to her. "Federation values" is a tricky one with this one since we don't really learn anything about the alien but its comrades seem benign.


  [1]: http://memory-alpha.wikia.com/wiki/Prime_Factors_(episode)
  [2]: http://memory-alpha.wikia.com/wiki/The_37%27s_(episode)
  [3]: http://memory-alpha.wikia.com/wiki/Lifesigns_(episode)
  [4]: http://memory-alpha.wikia.com/wiki/Macrocosm_(episode)
  [5]: http://memory-alpha.wikia.com/wiki/Unimatrix_Zero_(episode)
  [6]: http://www.chakoteya.net/Voyager/506.htm