ST. JOSEPH, Mo. -- Kansas City Chiefs running back Jamaal Charles made his training camp debut Tuesday.

Charles had been on the physically unable to perform list the first three weeks of camp. He underwent surgery last season after tearing the ACL in his right knee in Week 5 against Chicago.

Charles practiced Tuesday during individual and positions drills for 30 minutes before the Chiefs went into the team portion of practice. At that time, Charles left the field with a trainer and went to the locker room.

Chiefs trainer Rick Burkholder called the practice "part of the process" of Charles returning to the active roster.

"It's an absolute day-to-day process," Burkholder said. "We'll evaluate every day that he's out here and we'll change what we're doing [in his rehab away from practice] as well as on the field, and we'll just give him more and more as we go.

"He did fine, in my mind. ... What we saw was what we expected."

Charles missed the Chiefs' preseason opener Saturday against the Seattle Seahawks, and it's not clear whether he will play against the Los Angeles Rams on Saturday.

The four-time Pro Bowl running back worked out a bit during the offseason program, and Charles said all along that he expected to be ready for the season opener against San Diego on Sept. 11.

Information from The Associated Press was used in this report.