All four matches will be broadcast live with Chelsea v Manchester United taking top billing at 7.45pm on Monday night on BBC One.
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.
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Jose Mourinho and Antonio Conte will lock horns in the FA Cup
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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.
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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