Please read the following table in Markdown format and then answer the question according to the table. Table cells in one row are seperated by '|', and different rows are seperated by '
'.

Table:
| Year | Location | Men's Individual | Women's Individual | Men's Team | Women's Team | Mixed Team | Ref |
| --- | --- | --- | --- | --- | --- | --- | --- |
| 1996 | Vaulx-en-Velin | Franck Dauphin (FRA) | Anna Campagnoli (ITA) |  |  |  | [226] |
| 1998 | Taoyuan | John Blaschke (USA) | Shih Ya-Ping (TPE) | United States | Chinese Taipei |  | [227] |
| 2000 | Madrid | Tsai Sung-Pin (TPE) | Jamie van Natta (USA) | United States | United States |  | [228] |
| 2002 | Chonburi | Adam Wheatcroft (USA) | Mary Zorn (USA) | United States | United States |  | [229] |
| 2004 | Madrid | Choi Yong-Hee (KOR) | Mary Zorn (USA) | South Korea | United States |  | [230] |
| 2006 | Viničné | Braden Gellenthien (USA) | Amandine Bouillot (FRA) | United States | France | United States | [231] |
| 2008 | Tainan | Jedd Greschock (USA) | Erika Anschutz (USA) | Mexico | South Korea | United States | [232] |
| 2010 | Shenzhen | Adam Gallant (USA) | Vida Halimian (IRI) | United States | United States | United States | [233] |
| 2012 | Córdoba | Daniel Suter (USA) | Kristina Berger (GER) | Italy | United States | United States | [234] |
| 2014 | Legnica |  |  |  |  |  |  |
Question:
what are the number of times the location was in madrid?
Answer:
2