[subject] + [time] + 才 + [verb]
[condition] + 才 + [verb]
才 + [number] + [measure word]
才 goes before the verb and says the action came later than expected, or only after something else had happened. The sentence has no 了.
才 already says the action finally happened, so 了 is left out.
A first action or condition before 才 says the second happened only once the first did.
The same facts take 就 when they seem early and 才 when they seem late. 就 keeps 了; 才 drops it.
Before a number, 才 says the amount is small – smaller than it should be, or than you'd think.