I understand what Kasim is saying. After creating a custom post type and setting it to use its own custom top level menu, you no longer have a menu item anywhere to edit the custom taxonomy registered to that custom post type.
When you register a taxonomy you cannot tell it what menu item to appear in, there is no “show_in_menu” option like register_post_type.
So his question is, how do you create a menu option to edit a custom taxonomy and stick it under a top level menu of your choosing?