俱舍論記 9.201

9.201

「為自受樂至無明緣行」者，此出行支體。眾生為自受樂及非苦樂故，作身、語、意各三種福、非福、不動業。謂為自身受欲界當樂故，造諸福業；為受當來色界下三定樂及四定已上非苦樂故，造不動業；為受欲界現在世中五欲樂故，造作殺等諸非福業。如是名為由無明為緣能起於行。

"In order to experience pleasure for oneself... 'conditioned by ignorance, there are formations'": this identifies the substantial nature of the limb of formations. In order to experience pleasure for themselves as well as non-suffering-and-non-pleasure, sentient beings perform the three kinds of meritorious, non-meritorious, and immovable karma with body, speech, and mind respectively. That is, in order to experience future pleasure of the desire realm for their own body, they produce various meritorious karmas; in order to experience the pleasure of the lower three dhyānas of the form realm and the non-suffering-and-non-pleasure of the fourth dhyāna and above in the future, they produce immovable karma; and in order to experience the pleasure of the five desires in the present world of the desire realm, they perform various non-meritorious karmas such as killing. This is what is meant by formations being able to arise with ignorance as a condition.