There are two types of preconditioning for a Tesla vehicle.
The first is preconditioning before driving, i.e. before you get into your Tesla vehicle. You can set this preconditioning to happen at a scheduled time, each day or only on weekdays. You can also initiate this preconditioning using the Tesla app by tapping on the fan icon. The Tesla vehicle does not have to be plugged in to use the preconditioning feature.
The most common use for preconditioning is in winter when the Tesla vehicle has been parked over night or during the day and you want to bring the temperature of the passenger cabin to your preferred temperature for comfort. In winter preconditioning will also cause the Tesla vehicle to automatically warm the battery if needed. You can't control when the battery is being warmed as the Tesla vehicle will automatically warm the battery as required. (In warm weather you can precondition the Tesla vehicle for ~4 or 5 minutes so you do not have to enter a hot passenger cabin.)
When the battery is being warmed the Tesla vehicle and the Tesla app will display an orange icon with three vertical squiggle lines that represent a heating grid (or possibly sizzl'n bacon) next to the battery icon. (Wait until next fall and winter; you will definitely see the sizzl'n bacon.) The Tesla vehicle warms the battery when the battery is cold to improve battery performance and for charging. When the battery is cold the Tesla vehicle will display a blue snowflake icon while you drive. Maximum power may be reduced (this is rarely noticeable) and regenerative braking will be limited.
The reduction of the regenerative braking used to be something that Tesla driver's had to deal with in colder temperatures. The current Tesla software includes an option to automatically blend the friction brakes with the regenerative braking when regenerative braking is reduced or unavailable. Enabling this setting results in a consistent level of braking in all temperatures, so there is less time needed to precondition the Tesla vehicle. In winter you may find that you can precondition for less than 10 minutes. (Preconditioning so that the passenger cabin is at the desired temperature could take longer in very low temperatures. There is now also a setting within the Tesla app to defrost the Tesla vehicle. The defrost vehicle button is used when the Tesla vehicle has been parked outside and may be covered in snow and ice.)
The second form of preconditioning is Preconditioning for Supercharging. Preconditioning for Supercharging will warm the battery for optimal Supercharging. You can ensure that Preconditioning for Supercharging will be performed by entering the Supercharger location where you next plan to charge as the destination in the Tesla Navigation system. The Tesla vehicle will automatically begin to warm the battery for Supercharging as you drive to the Supercharger. If needed the Tesla vehicle can also perform Preconditioning for Supercharging while charging at the Supercharger. (Generally while navigating to the Supercharger Preconditioning for Supercharging will initiate when you are 20 or so miles (20 or 30 minutes drive time) from the Supercharger location.) Preconditioning for Supercharging will ensure optimal use of the Supercharger (shorten the time needed to charge to the default Supercharging charge limit (usually this is 80% however you can override this if needed), most efficient charging.)