No, preliminary Track and Field events act as a qualifying round for final rounds in the same event. Some events will even have multiple preliminary rounds.
For example, at the Olympic 400 meter dash, there is first a preliminary round of 7 heats, from which the top three finishers in each heat automatically advance, then the 3 fastest times overall (for a total of 24 runners). Then there is a semifinal round, where the runners will race again in 3 heats with the top 2 runners automatically advancing, followed by the 2 fastest overall times (for a total of 8 runners). Then the final heat is run, with the top three finishers receiving medals, regardless of how they performed in previous rounds.
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Heats are the qualifying races before the final event. Runners must compete in the heat races and finish with a high enough time to get into the finals. Even the runners that finish first, second or third in the heats do not get medals; this just confirms that they can compete in the medal races. When all the heats for a particular event, like the 400 meter relay for example, are finished, the best runners from each heat compete for medals. Only the top three runners get medals.
Yes, if an athlete runs for his team in the preliminary rounds and then his team goes on to win a medal, then that athlete would also receive a medal.