A six-year NFL veteran, Francisco has played in 75 games with 23 starts. He has 131 tackles and four interceptions during his career with Arizona (2005-08) and Indianapolis (2009-10).
The Cardinals and Colts both made the Super Bowl during seasons in which Francisco was on the roster.
Last year, he was in the Detroit Lions' training camp, but was cut before the season opener.
Francisco also is a special teams standout.