You need to check your Master Deed and bylaws which often contain language granting the condo association right to access of individual unit owners for certain purposes. These often are for repair and maintenance of common plumbing, structural and electrical items. The language may also allow for entry of installation of common items under certain conditions. But you need read what is actually allowed.

Our board voted to allow Verizon to install the FIOS infrastructure in all our buildings. They ran their fiber to each condo but never installed the individual equipment unless the homeowner requested Verizon FIOS.

I suspect all condominiums will have to eventually upgrade and install some sort of Internet cable/devices. Your By-Laws will give the answer to this, however I suspect it is a Limited Common Element and that is usually up for discussion. It will increase the marketability of your property. You may not have to sign up for the actual service, just have the cables installed. Suggest you call a meeting of all the homeowners so they can understand what is going on and how it will affect them.

It goes beyond that. Can the HOA dictate what provider you use? This is the issue we dealt with when they tried to go with one cable provider. Most people are already hooked up with the service they choose to go with. You might want to check State Law which trumps HOA documents.

How are you getting cable TV/Phone/Internet now? What usually happens when a condo is built is the Developer enters into a contract with a Provider (Verizon is one example). They wire all the units during construction in return for some kind of a long-term (10 year) agreement that they will provide basic cable TV. 
 
In most cases, there is some kind of a central location where the service comes in from the street. It then branches off into each unit. If you want an expanded TV selection, you end up paying for a "box" in your unit. 
 
The documents, which everyone is so fond of referring to are usually really vague. You need to look at the blueprints of the building (which no one ever has). Unfortunately, if you are not a contractor, they may not make a lot of sense.  
 
If you are upgrading from, say cable (Comcast) to FIOS, the wiring/cabling is different. In that case, they have to get into your unit and install new wire/cable. 
 
Are you paying the current company every month, or is it part of your condo fees? If it's part of your fees, then it's probably a decision the BOD made, and they will adjust your fees accordingly.