Was Star Trek's Time Warp ever developed past episode one?

I consider myself a Trekkie. I have seen pretty much every episode there is to watch at least once. That was a long time ago, and my memory is hazy. A while back I watched the first episode of Star Trek. In that episode, they referred not to "Warp Travel", but rather "Time Warp". Was this concept elaborated upon at all? I'm not talking about the Motion Pictures with the Borg or the whales. The idea I got in my head was they were altering the rate of time in order to travel vast distances without aging? This was some time ago. I may be recalling the episode improperly.