When I went through Arches & Canyonlands a couple of months ago, I primarily used my 17-40 and 24-105. I did occasionally use a 70-200 too, and had a 5DmkIII and 60D, tripod, etc. Plus it was hot, so had to consider the extra weight of water, food, etc. (if you're going in less than a week, I'm guessing it'll be worse when you go). The good thing is that there are many 'typical'-but-beautiful locations in both parks that are very close to parking lots, so you won't have to carry a lot of heavy water/food on long hikes, and therefore can carry more gear...or make a short trip back to the car if you decided you needed something you left there. Of course, there are also lot of longer hikes where you'll have to be more judicious, if you choose to do those.