Please find below doc, which might help you. By the way, IKE V2 currently it is not supported. However, there is a feature request previously submitted. (FR ID: 1683). I would request you to set IKEv1 on your CISCO ASA to successfully build the VPN tunnel with PAN.
See Sample ASA Configuration on the mentioned link:
Click Accept as Solution to acknowledge that the answer to your question has been provided.
The button appears next to the replies on topics you’ve started. The member who gave the solution and all future visitors to this topic will appreciate it!
These simple actions take just seconds of your time, but go a long way in showing appreciation for community members and the LIVEcommunity as a whole!
The LIVEcommunity thanks you for your participation!