Yes but as far as I know only one. Specifically one that is translated into "Electric Soldier Porygon" during which the eponymous Pokemon lit off several explosions of colors in rapid succession. This caused epilepsy in those who watched the episode and due to a following lawsuit the episode has not been aired sinced.
there is also one another one that was banned, although im unsure of its name. it was banned because jessie and james fired rockets from a bazooka at ash and co.