We explore the minimal conditions which enable the formation of metal-enriched solar and sub-solar mass stars. We find that in the absence of dust grains, gas fragmentation occurs at densities nH ~ [10^4-10^5]cm^{-3} when the metallicity exceeds Z ~ 10^{-4} Zsun. The resulting fragmentation masses are > 10 Msun. The inclusion of Fe and Si cooling does not affect the thermal evolution as this is dominated by molecular cooling even for metallicities as large as Z = 10^{-2} Zsun. The presence of dust is the key driver for the formation of low-mass stars. We focus on three representative core-collapse supernova (SN) progenitors, and consider the effects of reverse shocks of increasing strength: these reduce the depletion factors, fdep = Mdust/(Mdust+Mmet), alter the shape of the grain size distribution function and modify the relative abundances of grain species and of metal species in the gas phase. We find that the lowest metallicity at which fragmentation occurs is Z=10^{-6} Zsun for gas pre-enriched by the explosion of a 20 Msun primordial SN (fdep > 0.22) and/or by a 35 Msun, Z=10^{-4} Zsun SN (fdep > 0.26); it is ~ 1 dex larger, when the gas is pre-enriched by a Z = 10^{-4} Zsun, 20 Msun SN (fdep > 0.04). Cloud fragmentation depends on the depletion factor and it is suppressed when the reverse shock leads to a too large destruction of dust grains. These features are all consistent with the existence of a minimum dust-to-gas ratio, Dcr, above which fragmentation is activated. We derive a simple analytic expression for Dcr which, for grain composition and properties explored in the present study, reads Dcr = [2.6 - 6.3] x 10^{-9}. When the dust-to-gas ratio of star forming clouds exceeds this value, the fragmentation masses range between 0.01 Msun and 1 Msun, thus enabling the formation of the first low-mass stars.
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