Ford reccomends MERCON (**DO NOT USE MERCON V).
A better aftermarket alerntaive is Royal Purple ATF. ~$13/QT at local auto stores but one of the best aftermarket fluids you can buy.
Motorcraft MERCON ATF ( automatic transmission fluid ) according to the owners manual
The 1994 takes Mercon transmission fluid
Every 30,000 miles
In a 2002 Ford Taurus the type of automatic transmission fluid to use is indicated on the automatic transmission fluid dipstick or the dipstick handle
26.4 pints or 11.2 litres
( 3 ) according to the owners manual
The 2002 Ford Taurus Owner Guide shows : Motorcraft MERCON-V automatic transmission fluid
Starting in 2002 the Ford Explorer ( four door ) does not have an automatic transmission fluid dipstick
Starting in 2002 the Ford Explorer 4 door does not have an automatic transmission fluid dipstick
MERCON V It's Ford's transmission fluid.
Starting with the 2002 model of Ford Explorer ( 4 door ) there is no automatic transmission fluid dipstick , Ford has a way of checking the fluid level from underneath the vehicle
Motorcraft MERCON automatic transmission fluid ( for the C6 / 4R70W / E4OD automatic transmissions ) - according to the owners manual