PF withdrawal is applicable in two cases
1) when the employee leaves job , in this case he is eligible to get both shares of employee and employer provided his contribution is paid for more than 6 months and is less than 9.5 yrs ,
in case of less than 6 months ,claims are rejected, in case of more than 9.6 yrs, the EPS account is converted in pension shcheme.
2) employee can withdraw part of his own contribution without leaving service, provided he has contributed for more then 5 yrs, percentile of withdrawal for different purpose is different, please check with EPF counter