Arsenal will face Lincoln at 5.30pm on Saturday 11 after easing past Sutton United on Monday and will be shown on BT Sport 2.
BT’s other tie of the round is Middlesbrough v Huddersfield or Manchester City which takes place at 12.15 on the same day.
Jose Mourinho and Antonio Conte will lock horns in the FA Cup
Arsene Wenger's side beat Sutton United in the last round
Tottenham v Millwall will take place on the Sunday at 2pm and be on BBC One.
Lincoln will be Arsenal’s second non-league opponents after they beat Burnley last weekend thanks to a late Sean Raggett goal at Turf Moor.
Arsenal overcame Sutton, their 3G pitch, and their pie-eating reserve goalkeeper to book their place in the last eight and will be confident of another visit to Wembley.
Arsenal fans get defensive after Gunners leave Sutton changing room in a state
Tue, February 21, 2017
Arsenal fans have got riled up on Twitter after images emerge of the away dressing room at Sutton United after the Gunners' 2-0 FA Cup Fifth Round victory
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Arsenal fans get defensive after images of the Gunners' changing room emerge
Chelsea, meanwhile, will need to get beyond Manchester United to keep hopes of a double on course.
The Blues beat United 4-0 at Stamford Bridge earlier in the season but Marcus Rashford admitted they would be out for revenge.
"They have one over on us so we will definitely be going there to win the game,” he said after United’s victory over Blackburn on Sunday.
FA Cup schedule
Saturday 11 March
Middlesbrough v Huddersfield Town or Manchester City (12.15pm) – BT Sport 2
Arsenal v Lincoln City (5.30pm) – BT Sport 2
Sunday 12 March
Tottenham Hotspur v Millwall (2pm) – BBC One
Monday 13 March
Chelsea v Manchester United (7.45pm) – BBC One