Is there a way to animate welds?

I need help on making a weld change its C0 value while transitioning it so it moves smoothly, but I cant use CFrame:lerp() on C0. Please tell me if this is even possible, Here's the code:

mode.Changed:connect(function()
    if mode.Value == true then
        print('true')
        weapon.Handle.Joint.Part1 = weapon.SwordHandle
        weapon.Blade1.Joint.C0 = transblade1
        weapon.Base.Joint.C0 = transbase
        weapon.Lock1.Joint.C0 = translock1
        weapon.Lock2.Joint.C0 = translock2
    else
        print('false')
        weapon.Handle.Joint.Part1 = weapon.GunHandle
        weapon.Blade1.Joint.C0 = baseblade1
        weapon.Base.Joint.C0 = basebase
        weapon.Lock1.Joint.C0 = baselock1
        weapon.Lock2.Joint.C0 = baselock2
    end
end)

transblade1, transbase, translock1, translock2, baseblade1, basebase, baselock1, and baselock2 are CFrame values