This manual discusses it somewhat.
http://service.us.panasonic.com/OPERMANPDF/SAAX730.PDF
Basically, feed the self-powered (active) subwoofer from the Subwoofer Out. There does not seem to be a way to adjust the subwoofer output to match the rest of the speakers because the sub out is muted during the adjustment procedure.
Another way would be to refer to page 15. The note at the bottom right suggests your subwoofer might accept full range speaker level inputs. Refer to the manual for your sub. I believe they mis-printed it and meant "active" subwoofer, as simply wiring a passive (unpowered) sub across the front speaker outputs might cause some amplifier overload issues and you would have no way of balancing it anyway.
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