You can withdraw your Roth IRA contributions at any time, for any reason, tax- and penalty-free. However, to withdraw investment earnings completely tax- and penalty-free, your account must meet both the 5-year aging rule (5 tax years must have passed since your first contribution) and you must be at least 59½ years old.
원글이 맞지요, 원금을 꺼낼때는 나이와 상관없이 tax- and penalty-free.