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) which can be downloaded here. Unfortunately, Attachment H is not included in the English translation of the document.