This is a conversion, and conversions become penalty free after five years. And any penalty applies only to the portion that was taxed at the time of conversion. Since you do not have a taxed portion, you do not have a waiting period (it may be necessary for the Roth IRA itself to be five years old, but then each conversion becomes available to you).
Contributions can be withdrawn tax and penalty free at any time.
According to the IRS, you remove first any contributions you have made ever. Then you remove the conversions one by one, oldest first (and if you did pay tax at conversion, the taxed portion comes out before the untaxed portion).