You say you had to leave to join your family. Do you mean to say that your wife, a Canadian citizen has been living with you outside Canada? If she has, you would still meet the residency requirements because a day spent with a Canadian spouse outside Canada counts as a day in Canada towards the PR residency requirements.
If that is not the case, that is, your Canadian wife has not been with you outside Canada then you would need 2 years in Canada in the past 5 to meet the requirements. If you have that, you can apply for a PR travel document in order to return. If you don't have that, you can still apply for a PR travel document but in that case, it will likely be refused and you could lose your PR which is not a problem as your wife can sponsor you for PR again.