When a man is not attached to sense-objects or to actions, having renounced all thoughts, then he is said to have attained to YOGA.

yadā = when; hi = certainly; na = not; indriyārtheṣu = in sense gratification; na = never; karmasu = in fruitive activities; anuṣajjate = one necessarily engages; sarvasaṅkalpa = of all material desires; saṃnyāsī = renouncer; yogārūḍhaḥ = elevated in yoga; tadā = at that time; ucyate = is said to be.;