If you take credit cards, cash or check payments at the time of sales order entry, the sales order is prepaid and there is no need to collect a payment from the customer to retire their open accounts receivable invoice.
Normally Sales Update will automatically create an AR Ledger Record and a Debit to the AR Trade G/L Account even if the order has been prepaid.
If the Prepayment Tab processing options are set correctly the AR Batch Draft Creation (R03B671) will create Preauthorized Drafts at the time of Sales Update to retire the Accounts Receivable obligation automatically. When the AR Batch Draft Creation (R03B671) runs, it will record the payment against the AR Ledger invoice created by Sales Update and will also create a Credit Entry against AR Trade G/L Account leaving a net balance of $0 so that no money need be collected from the customer.
For details on how to setup this functionality, please refer to Case Study: How to Create Drafts at Sales Update for Prepaid Cash Sales Invoices (Doc ID 2361275.1). Although the example shown is for a Cash Sale, the functionality works equally well with Sales prepaid by Credit Card or Check.