The earliest you'll be able to submit an application is January 2017.
To qualify you will need to have made sufficient income from a job in Canada to meet the low income cut off for 2013, 2014 and 2015.
If you have just arrived in Canada now as a PR and were not previously living and working in Canada, it's likely going to be 2021 before you can qualify to sponsor them and you should look into the super visa as a means of bringing them here as tourists for longer stays (note that the super visa doesn't allow them to move to Canada - just visit).