Yes, there were. The Inca Empire had no slavery. They also didn't have money or commerce, except in some parts of the empire (the lands of the Chimmu).

What they did have, though, was a system of corvee labor called Mita. Their economic system was the closest thing to communism socialism among ancient civilizations. Everyone worked for the state, even marriages were ostensibly arranged by state inspectors (though they probably just gave official approval to marriages arranged by the locals anyway).