Robin/Nightwing

In all of the Batman: Animated stuff that was done over the years, is Dick Greyson's split with Bruce Wayne and his becoming Nightwing ever covered?

I remember it all happening in the comic books way back when, but wondered if they ever did it in animation, or did Nightwing and a new Robin just suddenly appear.

I've seen Nightwing in some Batman: Animated stuff before, but have missed so much over years.