"We couldn't have hand-picked a better draw," Heeley said. "It's incredible, it'll be a fabulous day and we want to cause an upset."
The Non-Leaguers were victorious in last seasons FA Cup Round One tie, winning at Coventry City before bowing out at Scunthorpe United on penalties in Round two.
"They will not be phased at all, I'm sure the lads who played last season will share their experiences," Heeley told BBC Hereford and Worcester. "They're probably the biggest club in the competition at this stage. It's a brilliant, brilliant draw and I cannot wait."