In plain words
The poet, longing for Śrīraṅgam: His servants cast out of the mind the cruelty that shows there, put away deceit, subdue the unruly senses, cast off the burden of old deeds that brings grief and sorrow, praise him at the five times of the day [the five daily observances of worship], and stand firm in the ancient way that has no bounds. Their minds shine with compassion, and their supreme goal is Māyōṉ, radiant with beauty, who lies on the serpent bed in Araṅgam adorned by the Poṉṉi [Kāvēri]. When will the day come, I wonder, when I see him and stand there, my eyes brimming with tears [of joy]?