The defense ministry says about six soldiers will accompany each shipment of German arms that will start being flown to Iraq later this month.
Separately, some 30 Kurdish fighters will start training on more complex weapons systems in southern Germany at the end of the month.
Germany has said it will provide the Kurds with 16,000 assault rifles, hundreds of anti-tank weapons and armored vehicles to help fight the extremist Islamic State group.
The decision to send soldiers to Iraq was first reported by the website Augen Geradeaus, which covers German military news.
Germany has traditionally been reluctant to send troops abroad because of its history of militarism.
List of arms and ammunition to be supplied by Germany to the kurdish fighters
8,000 G3 assault rifles; 2 million rounds of ammunition
8,000 G36 assault rifles; 4 million rounds of ammunition
40 MG3 heavy machine guns; 1 million rounds of ammunition
8,000 P1 pistols; 1 million rounds of ammunition
30 MILAN anti-tank weapons; 500 guided rockets
200 shoulder-fired Panzerfaust 3 rocket launchers; 2,500 rockets
40 heavy rocket lauchers; 1,000 rockets
100 flare guns; 4,00 rounds
10,000 hand grenades
40 WOLF jeeps
20 lightly armored WOLF jeeps
40 UNIMOG trucks
1 tanker truck
5 DINGO-1 armored vehicles
Associated Press/DW-DE