For some reason the Editor role does not get access to the edit taxonomy screen on my site. Maybe that is expected behavior, I dont know - But how can I add this to the editor role capabilities?
Right after I wrote the posts I found it...anyway if someone else is looking for the answer to this, you need to set capabilities when you register your taxonomy. You add the following:
'capabilities' => array ( 'manage_terms' => 'edit_posts', 'edit_terms' => 'edit_posts', 'delete_terms' => 'edit_posts', 'assign_terms' => 'edit_posts' )
edit_posts means administrator', 'editor', 'author' and 'contributor'.