Custom Roles for access to specific term(s)

First I have a question, what you want to give them access to. Editing posts that have a certain category or seeing it on the site?

When it comes to Roles, as is the case usually the codex is a great place to start – http://codex.wordpress.org/Roles_and_Capabilities. Specifically http://codex.wordpress.org/Function_Reference/add_role.

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