In plain words
The poet, calling those who seek only to enjoy the self [kaivalya]: You who have a mind to come into our company and join us: before you are laid in the cremation ground, give up the bounds you have set yourselves, come, and join us quickly. You devotees who have a mind to sing "Namō Nārāyaṇāya", so that country and city alike may know your good, come, and sing "many years".