(If you're wondering, this works to achieve soft-realtime guarantees because, in Erlang, as in Prolog, loops are implemented in terms of recursive tail-calls. So any O(N) function is guaranteed to hit a call or ret op after O(1) time.)
If you're writing an Erlang extension in C (a "NIF"), though, and your NIF code will be above O(1), then you have to ensure that you call into the runtime reduction-checker yourself to ensure nonblocking behavior. In that sense, Erlang is "cooperative under the covers"—you explicitly decide where to (offer to) yield. It's just that the Erlang HLL papers over this by having one of its most foundational primitives do such an explicit yield-check.
In practice, memory allocation happens a lot, so it's pretty close to preemptive.
http://www.sarathlakshman.com/2016/06/15/pitfall-of-golang-s...
IIRC, work is underway (may be finished) to add a scheduler yield check to loops as well, which would fix the pathological case in that blog entry.
If your code is doing a lot of channel sends and/or calling a lot of non-inlined functions, it may look like preemption, but it's still cooperative. If you're writing latency-sensitive code this distinction should be kept in mind.
[1] Or whenever time.Sleep() is called, or somebody calls runtime.Gosched(). There might be other cases, would be happy to hear about it.