A receipt (Kassenbeleg-V1) transaction is used for short transactions when the payment is done immediately, for example in typical retail scenarios.
For long-lasting transactions, e.g. in gastronomy, order (Bestellung-V1) transactions should be used additionally.
Good examples and explanations of the different scenarios using order (Bestellung-V1) transactions can be found in Attachment H (Anhang H Erleichterungsregelungen) of the official DSFinV-K documents of the Federal Central Tax Office (Bundeszentralamt für Steuern): DSFinV-K 2.3, (new version) (EN)
DSFinV-K 2.3, Stand März 2022 (DE). Unfortunately, this attachment is not included in the English translation of the document.