The word order in prose would be: "Come out from the grove, my love and care, and rejoice round my golden tent like lambs."For when our souls have learned the heat to bear,
The cloud will vanish; we shall hear his voice,
Saying: "Come out from the grove, my love & care,
And round my golden tent like lambs rejoice."
In other words, the "souls" will rejoice round his "golden tent" like lambs skipping round their mother.