ST. JOSEPH — The Chiefs have at times held running back Jamaal Charles, tight end Tony Moeaki and safety Eric Berry from training camp practices. But coach Romeo Crennel said the three players would participate in not only Tuesday’s joint practice with Arizona but also Friday night’s preseason game against the Cardinals at Arrowhead Stadium.

“We will continue to manage those guys as well, but I think it’s important for them to get reps in the game to begin to find out where they are and how they feel and how those injuries are recovering for them,’’ Crennel said. “So we’ll give them some time and we’ll see how it goes.’’

Playing against outside competition would be the next step in the rehabilitation process for all three players. They suffered similar injuries, torn knee ligaments, within a two-week period last summer. Moeaki, injured in the final preseason game, missed the entire 2011 season.

Berry was injured early in the season opener while Charles went down in the next game. Both were then finished for the season.

Crennel was uncertain how much any of the starters would practice against the Cardinals on Tuesday. Arizona opened its exhibition schedule Sunday night against New Orleans, so the Cardinals are on a different schedule than the Chiefs.

“In talking with (Arizona coach Ken Whisenhunt), he wants to get a look at everybody on his team against us, so we’ll probably try to divide it up and give the (starters) a few more reps than we give the third-(teamers),’’ Crennel said.