In this Sabad (Infinite-Wisdom) Guru Nanak Sahib redefines the terms Jog and Jogi, outside the six systems of Hindu philosophy. Jog for the Guru is not yoga, neither mental or physical, but a “connection.”

1 Reality realized by Eternal Perfection’s Grace!
‍Jog¹ not attained by wearing tattered attire.
Jog not attained by carrying a stick.
Jog not attained by smearing ash on the body.
Jog not attained by piercing ears nor shaving head.
Jog not attained by blowing a conch.
Jog attained by staying unstained amidst soot.  1.

Jog not attained by talking.
Who sees all as One, is called a Jogi².  1  Reflect. 1

Jog not attained outside mausoleums and crematoriums.
Jog not attained through ascetic-trances.
Jog not attained wandering home and foreign lands.
Jog not attained bathing at pilgrim-sites.
Jog attained by staying unstained amidst soot.  2.

When Eternal Guru met, then doubts crumble.
Wanderings stop, becomes steady.
Water flows naturally, music plays within.
Jog attained by staying unstained amidst soot.  3.

Says Nanak: Remaining alive while being dead,
Jog earned this way.
Horn sounds without blowing.
Jog then attained staying unstained amidst soot.  

Guru Nanak Sahib in Rag Suhi  |  Guru Granth Sahib 730

¹ Jog is derived from the word Yuj, meaning joining, or union. It is one of the six orthodox schools of philosophy in the Hindu tradition that seeks union with the Supreme Reality through mind, body, and breath control, as well as through various postures.
² A jogi is a practitioner of jog.

ਸੂਹੀ ਮਹਲਾ ੧ ਘਰੁ ੭
ੴ ਸਤਿਗੁਰ ਪ੍ਰਸਾਦਿ ॥
ਜੋਗੁ ਨ ਖਿੰਥਾ ਜੋਗੁ ਨ ਡੰਡੈ ਜੋਗੁ ਨਭਸਮ ਚੜਾਈਐ ॥
ਜੋਗੁ ਨ ਮੁੰਦੀ ਮੂੰਡਿ ਮੁਡਾਇਐ ਜੋਗੁ ਨਸਿੰਙੀ ਵਾਈਐ ॥
ਅੰਜਨ ਮਾਹਿ ਨਿਰੰਜਨਿ ਰਹੀਐ ਜੋਗ ਜੁਗਤਿ ਇਵ ਪਾਈਐ ॥੧॥
ਗਲੀ ਜੋਗੁ ਨ ਹੋਈ ॥
ਏਕ ਦ੍ਰਿਸਟਿ ਕਰਿ ਸਮਸਰਿ ਜਾਣੈ ਜੋਗੀ ਕਹੀਐ ਸੋਈ ॥੧॥ ਰਹਾਉ ॥
ਜੋਗੁ ਨ ਬਾਹਰਿ ਮੜੀ ਮਸਾਣੀ ਜੋਗੁ ਨਤਾੜੀ ਲਾਈਐ ॥
ਜੋਗੁ ਨ ਦੇਸਿ ਦਿਸੰਤਰਿ ਭਵਿਐ ਜੋਗੁ ਨਤੀਰਥਿ ਨਾਈਐ ॥
ਅੰਜਨ ਮਾਹਿ ਨਿਰੰਜਨਿ ਰਹੀਐ ਜੋਗ ਜੁਗਤਿ ਇਵ ਪਾਈਐ ॥੨॥
ਸਤਿਗੁਰੁ ਭੇਟੈ ਤਾ ਸਹਸਾ ਤੂਟੈ ਧਾਵਤੁਵਰਜਿ ਰਹਾਈਐ ॥
ਨਿਝਰੁ ਝਰੈ ਸਹਜ ਧੁਨਿ ਲਾਗੈ ਘਰ ਹੀਪਰਚਾ ਪਾਈਐ ॥
ਅੰਜਨ ਮਾਹਿ ਨਿਰੰਜਨਿ ਰਹੀਐ ਜੋਗ ਜੁਗਤਿ ਇਵ ਪਾਈਐ ॥੩॥
ਨਾਨਕ ਜੀਵਤਿਆ ਮਰਿ ਰਹੀਐ ਐਸਾ ਜੋਗੁ ਕਮਾਈਐ ॥
ਵਾਜੇ ਬਾਝਹੁ ਸਿੰਙੀ ਵਾਜੈ ਤਉ ਨਿਰਭਉਪਦੁ ਪਾਈਐ ॥

Guru Nanak Sahib in Rag Suhi  |  Guru Granth Sahib 730‍