I think alaHazrat also wrote a book on the subject of prostration of respect entitled az-Zubtatu'z Zakiya.
ay shauq e dil ye sajda gar unko rawā nahīN
aysa wo sajda kīje ke sar ko khabar na ho
O, the yearning heart! if he dislikes for us to bow-
then prostrate such, that head shall never come to know.
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The first meaning:
unko/he in the first verse, if it means RasulAllāh álayhi’s şalātu wa’s salām then the verse means:
RasulAllāh şallAllāhu álayhi wa sallam prohibited a Sahabi from prostrating to him. He expressed his dislike. So, he doesn't like this form of adulation. that is physically bowing down to him. Notice that he didn't rule that such an action would be shirk. He said to the companion: 'If i allowed sajdah to anyone...' indicating that it was not shirk, but it is disliked or forbidden. Which is also proven from the Qur’ān where the angels prostrated to Sayyiduna Ādam álayhi’s salām and the Āl-Yáqūb did to Sayyiduna Yūsuf álayhima as-salām.
So the verse reads: 'He dislikes it out of sheer humility; a prostration is a show of respect; so we don't do it with our heads but we prostrate with our hearts.'
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The second meaning:
unko/they in the first verse means those who object to such an action. That is, scholars of exterior [ahl e zahir] – those whose scope is limited by the intellect (the head).
In this case the verse reads: 'The intellect, the scholars of the exterior dislike such an action. So we do such a prostration (respect, adulation) that the intellect (sar/head in the second verse) cannot perceive.'
notice the contrast of shawq-e-dil/heart to that in the second verse sar/head.
aysa wo sajda kīje ke sar ko khabar na ho
O, the yearning heart! if he dislikes for us to bow-
then prostrate such, that head shall never come to know.
---
The first meaning:
unko/he in the first verse, if it means RasulAllāh álayhi’s şalātu wa’s salām then the verse means:
RasulAllāh şallAllāhu álayhi wa sallam prohibited a Sahabi from prostrating to him. He expressed his dislike. So, he doesn't like this form of adulation. that is physically bowing down to him. Notice that he didn't rule that such an action would be shirk. He said to the companion: 'If i allowed sajdah to anyone...' indicating that it was not shirk, but it is disliked or forbidden. Which is also proven from the Qur’ān where the angels prostrated to Sayyiduna Ādam álayhi’s salām and the Āl-Yáqūb did to Sayyiduna Yūsuf álayhima as-salām.
So the verse reads: 'He dislikes it out of sheer humility; a prostration is a show of respect; so we don't do it with our heads but we prostrate with our hearts.'
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The second meaning:
unko/they in the first verse means those who object to such an action. That is, scholars of exterior [ahl e zahir] – those whose scope is limited by the intellect (the head).
In this case the verse reads: 'The intellect, the scholars of the exterior dislike such an action. So we do such a prostration (respect, adulation) that the intellect (sar/head in the second verse) cannot perceive.'
notice the contrast of shawq-e-dil/heart to that in the second verse sar/head.