Seguem alguns exemplos de uso:

##############################################################################################################

<soapenv:Envelope xmlns:soapenv="http://schemas.xmlsoap.org/soap/envelope/" xmlns:ser="http://services.senior.com.br">
 <soapenv:Header/>
 <soapenv:Body>
    <ser:Executar>
       <user>robosap</user>
       <password></password>
       <encryption>0</encryption>
       <parameters>
          <SID>
             <param><![CDATA[acao=sid.srv.xml]]></param>
          </SID>
          <SID>
             <param><![CDATA[<sidxml><sid acao ='sid.srv.altempfil'><param nome='codemp' valor='1'/><param nome='codfil' valor='1'/></sid></sidxml>]]></param>
           </SID>
       </parameters>
    </ser:Executar>
 </soapenv:Body>
</soapenv:Envelope>

##############################################################################################################

<soapenv:Envelope xmlns:soapenv="http://schemas.xmlsoap.org/soap/envelope/" xmlns:ser="http://services.senior.com.br">
 <soapenv:Header/>
 <soapenv:Body>
    <ser:Executar>
       <user>robosap</user>
       <password></password>
       <encryption>0</encryption>
       <parameters>
          <SID>
             <param><![CDATA[acao=sid.srv.altempfil]]></param>
          </SID>
          <SID>
             <param><![CDATA[codemp=1]]></param>
           </SID>
          <SID>
             <param><![CDATA[codfil=1]]></param>
           </SID>
       </parameters>
    </ser:Executar>
 </soapenv:Body>
</soapenv:Envelope>

##############################################################################################################

<soapenv:Envelope xmlns:soapenv="http://schemas.xmlsoap.org/soap/envelope/" xmlns:ser="http://services.senior.com.br">
 <soapenv:Header/>
 <soapenv:Body>
    <ser:Executar>
       <user>robosap</user>
       <password></password>
       <encryption>0</encryption>
       <parameters>
          <SID>
             <param>acao=sid.srv.altempfil</param>
          </SID>
          <SID>
             <param>codemp=1</param>
           </SID>
          <SID>
             <param>codfil=1</param>
           </SID>
       </parameters>
    </ser:Executar>
 </soapenv:Body>
</soapenv:Envelope>

##############################################################################################################

<soapenv:Envelope xmlns:soapenv="http://schemas.xmlsoap.org/soap/envelope/" xmlns:ser="http://services.senior.com.br">
 <soapenv:Header/>
 <soapenv:Body>
    <ser:Executar>
       <user>robosap</user>
       <password></password>
       <encryption>0</encryption>
       <parameters>
          <SID>
             <param><![CDATA[acao=sid.srv.xml]]></param>
          </SID>
          <SID>
             <param><![CDATA[<sidxml><param retorno="XML" /><sid acao="SID.Ocp.Gravar" retorno="RET_NUMOCP"><param nome="CodFor" valor="194" /><param nome="CodCpg" valor="001" /><param nome="CodMoe" valor="03" /><param nome="TnsPro" valor="90402" /><param nome="VlrFre" valor="552000.000" /><param nome="ValSeg" valor="552000.000" /><param nome="USU_DatEmb" valor="12/05/2014" /><param nome="USU_ProInv" valor="teste" /><param nome="USU_FilEnt" valor="1" /><param nome="USU_PurOrd" valor="TESTE2" /><param nome="USU_DatChe" valor="30/04/2014" /></sid><sid acao="SID.Ocp.GravarProduto" retorno="RET_CODPRO"><param nome="NumOcp" valor="@RET_NUMOCP" /><param nome="CodPro" valor="180.05.0043" /><param nome="CodDer" valor="0" /><param nome="QtdPed" valor="9999.00" /><param nome="SeqIpo" valor="1" /><param nome="TnsPro" valor="90402" /><param nome="PreUni" valor="7.00000" /><param nome="DatEnt" valor="30/05/2014" /></sid><sid acao="SID.Ocp.GravarProduto" retorno="RET_CODPRO"><param nome="NumOcp" valor="@RET_NUMOCP" /><param nome="CodPro" valor="155.01.0004" /><param nome="CodDer" valor="0" /><param nome="QtdPed" valor="6000.00" /><param nome="SeqIpo" valor="2" /><param nome="TnsPro" valor="90402" /><param nome="PreUni" valor="90.00000" /><param nome="DatEnt" valor="31/05/2014" /></sid></sidxml>]]></param>
           </SID>
       </parameters>
    </ser:Executar>
 </soapenv:Body>