BhG 6.3

syntax

yogam (yoga) ārurukṣoḥ (of one who desires to attain) muneḥ (of a sage) karma (activity) kāraṇam (the means) ucyate (it is called).
tasya eva (just of him) yogārūḍhasya (of one who attained yoga) śamaḥ (tranquility) kāraṇam (the means) ucyate (it is called).

grammar

ārurukṣoḥ	–	ārurukṣu (ā-√ruh – to ascend, to rise ) des. 6n.1 m. – of one who desires to ascend, to attain;
muneḥ	–	muni 6n.1 m. – of a sage, of a saint, of a seer (from: √man – to think, to imagine);
yogam	–	yoga 2n.1 m. – yoga, yoking, application, a means, one of the schools of Hindu philosophy (from:√yuj – to yoke, to join, to engage);
karma	–	karman 1n.1 n. – activity (from: √kṛ – to do);
kāraṇam	–	kāraṇa 1n.1 n. – cause, motive, principle, the means (from: √kṛ – to do, karaṇa – deed, direct cause, instrument, helper);
ucyate	–	√vac (to speak) Praes. pass. 1v.1 – it is said;
yogārūḍhasya	–	yoga-ārūḍha 6n.1 m.; TP: yogam āruḍhasyeti – of one who attained yoga (from: √yuj – to yoke, to join, to engage, yoga – yoga, yoking, application, a means, one of the schools of Hindu philosophy; ā-√ruh – to ascend, to rise, PP ārūḍha – który się wspiął);
tasya	–	tat sn. 6n.1 m. – his;
eva	–	av. – certainly, just, merely;
śamaḥ	–	śama 1n.1 m. – tranquility, calmness (from: √śam – to calm, to put to an end, to destroy);
kāraṇam	–	kāraṇa 1n.1 n. – cause, motive, principle, the means (from: √kṛ – to do, karaṇa – deed, direct cause, instrument, helper);
ucyate	–	√vac (to speak) Praes. pass. 1v.1 – it is said;

textual variants

yogārūḍhasya → āruḍhasya tu (but of one who ascended);

Śāṃkara

evaṃ paramārtha-saṃnyāsa-karma-yogayoḥ kartṛ-dvārakaṃ saṃnyāsa-sāmānyam apekṣya yaṃ saṃnyāsam iti prāhur yogaṃ taṃ viddhi pāṇḍāva [gītā 6.2] iti karma-yogasya stuty-arthaṃ saṃnyāsatvam uktam | dhyāna-yogasya phala-nirapekṣaḥ karma-yogo bahiraṅgaṃ sādhanam iti taṃ saṃnyāsatvena stutvādhunā karma-yogasya dhyāna-yoga-sādhanatvaṃ darśayati—

ārurukṣor āroḍhum icchataḥ, anārūḍhasya, dhyāna-yoge’vasthātum aśaktasyaivety arthaḥ | kasya tasyārurukṣoḥ ? muneḥ, karma-phala-saṃnyāsina ity arthaḥ | kim ārurukṣoḥ ? yogam | karma kāraṇaṃ sādhanam ucyate | yogārūḍhasya punas tasyaiva śamar upaśamaḥ sarva-karmabhyo nivṛttiḥ kāraṇaṃ yogārūḍhasya sādhanam ucyate ity arthaḥ | yāvad yāvat karmabhya uparamate, tāvat tāvat nirāyāsasya jitendriyasya cittaṃ samādhīyate | tathā sati sa jhaṭiti yogārūḍho bhavati | tathā coktaṃ vyāsena—

naitādṛśaṃ brāhmaṇasyāsti vittaṃ
yathaikatā samatā satyatā ca |
śīlaṃ sthitir daṇḍa-nidhānam ārjavaṃ
tatas tataś coparamaḥ kriyābhyaḥ || [mātrbh 12.175.37] iti

Rāmānuja

karmayoga evāpramādena yogaṃ sādhayatīty āha

yogam ātmāvalokanaṃ prāptum icchor mumukṣoḥ karmayoga eva kāraṇam ucyate / tasyaiva yogārūḍhasya pratiṣṭhitayogasyaiva, śamaḥ karmanivṛttiḥ kāraṇam ucyate / yāvad ātmāvalokanarūpamokṣāvāpti karma kāryam ityarthaḥ

Śrīdhara

tarhi yāvaj-jīvaṃ karma-yoga eva prāpta ity āśaṅkya tasyāvadhim āha ārurukṣor iti | jñāna-yogam āroḍhuṃ prātum icchoḥ puṃsas tad-ārohe kāraṇaṃ karmocyate | citta-śuddhi-karatvāt | jñāna-yogam ārūḍhasya tu tasyaiva dhyāna-niṣṭhasya śamaḥ samādhiś citta-vikṣepaka-karmoparamo jñāna-paripāke kāraṇam ucyate

Madhusūdana

tat kiṃ praśastatvāt karma-yoga eva yāvaj-jīvam anuṣṭheya iti nety āha ārurukṣor iti | yogam antaḥ-karaṇa-śuddhi-rūpaṃ vairāgyam ārurukṣor āroḍhum icchor na tvārūḍhasya muner bhaviṣyataḥ karma-phala-tṛṣṇā-tyāginaḥ karma śāstra-vihitam agnihotrādi nityaṃ bhagavad-arpaṇa-buddhyā kṛtaṃ kāraṇaṃ yogārohaṇe sādhanam anuṣṭheyam ucyate veda-mukhena mayā | yogārūḍhasya yogam antaḥ-karaṇa-śuddhi-rūpaṃ vairāgyaṃ prāptavatas tu tasyaiva pūrvaṃ karmiṇo ‚pi sataḥ śamaḥ sarva-karma-saṃnyāsa eva kāraṇam anuṣṭheyatayā jñāna-paripāka-sādhanam ucyate

Viśvanātha

nanu tarhy aṣṭāṅga-yogino yāvaj-jīvam eva niṣkāma-karma-yogaḥ prāpta ity āśaṅkya tasyāvadhim āha ārurukṣor iti | muner yogābhyāsino yogaṃ niścala-dhyāna-yogam āroḍhuṃ icchos tad-ārohe kāraṇaṃ karma cocyate citta-śuddhi-karatvāt | tatas tasya yogaṃ dhyāna-yogam ārūḍhasya dhyāna-niṣṭhā-prāptaḥ śamaḥ vikṣepaka-sarva-karmoparamaḥ kāraṇam | tad evaṃ samyak-citta-śuddhi-rahito yogārurukṣuḥ

Baladeva

nanv evam aṣṭāṅga-yogino yāvaj jīvaṃ karmānuṣṭhānaṃ prāptam iti cet tatrāha ārurukṣor iti | muner yogābhyāsino yogaṃ dhyāna-niṣṭhām ārurukṣos tad-ārohe karma kāraṇaṃ hṛd-viśuddhi-kṛttvāt | tasyaiva yogārūḍhasya dhyāna-niṣṭhasya tad-dāḍhye śamo vikṣepaka-karmoparatiḥ kāraṇam