The first thing you need to do is get the term in the taxonomy that the post is in
$terms = get_object_terms($post->ID, 'TAXONOMY SLUG HERE');
this will return an array of terms that the post is in, assuming there is only one
$term = $terms[0];
now you can use this to get the fields from the term
$value = get_field('field on term/taxonomy', 'term_'.$term->term_id;);