The word `Sankalpa’ means the mental faculty that makes plans for the future expecting the results of the plans so made. No one can become a Karma Yogi who plans future actions and expects the fruits of such actions. Only a devotee who renounced the thoughts of fruits of his actions can become a Yogi of steady mind because the thoughts of fruits of actions always cause mental disturbances.

Sanyasa i.e. renunciation consists in the accomplishment of the necessary action without an inward striving for reward. This is true yoga, firm control over oneself, complete self- possession. This verse says that disciplined activity (Yoga) is just as good as renunciation or Sanyasa.
Karma Yoga practiced without regard to the fruit of actions forms a stepping stone and an external aid to Dhyana Yoga or meditation. How Karma Yoga is a means to a better and greater meditation is explained in the following verses.

PATH AND THE GOAL

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Yam, that which is characterized by the giving up of all actions and their results; which prahuh, they, the knowers of the Vedas and the Smrtis, call; sannyasam iti, monasticism, in the real sense; viddhi, known; tam, that monasticism in the real sense; to be yogam, Yoga, consisting in the performance of actions, O Pandava. Accepting what kind of similarity between Karma-yoga, which is characterized by engagement (in actions), and its opposite, renunciation in the real sense, which is characterized by cessation from work, has their equation been stated?When such an apprehension arises, the answer is this; From the point of view of the agent, there does exist a simialrity of Karma-yoga with real renunciation. For he who is a monk in the real sense, from the very fact of his having given up all the means needed for accomplishing actions, gives up the thought of all actions and their results-the source of desire that leads to engagement in work. [Thoughts about an object lead to the desire for it, which in turn leads to actions for getting it. (Also see note under 4.19)] also, even while performing actions, gives up the thought for results. Pointing out this idea, the Lord says: Hi, for; kascit, nobody, no man of action whosoever; asannyasta-sankalpah, who has not given up expactaions-one by whom has not been renounced expectation, anticipation, of results;bhavati, becomes, i. e. can become; yogi, a yogi, a man of concentration, because thought of results is the cause of the disturbance of mind. Therefore, any man of action who gives up the thought of results would become a yogi, a man of concentration with an unperturbed mind, because of his having given up thought of results which is the cause of mental distractions. This is the purport. Thus, because of the similarity of real monasticism with Karma-yoga from the point of veiw of giving up by the agent, Karma-yoga is extolled as monasticism in, ‘That which they call monasticism, know that to be Yoga, O Pandava.’Since Karma-yoga, which is independent of results, is the remote help to Dhyana-yoga, therefore it has been praised as monasticism. Thereafter, now the Lord shows how Karma-yoga is helpful to Dhyana-yoga: