You can't record a CD that is playing on the Panasonic SC-HC20DB to the iPod. However, if you rip the CD and put the contents of the CD on your compatible iPod, you can play the resulting audio files on the Panasonic SC-HC20DB. The list of compatible iPods and iPhones is available in the manual, see
https://www.manualslib.com/manual/647714/Panasonic-Sc-Hc20db.html?page=12#manual for a copy.
I hope this helps. Note: the SC-HC20DB only plays CD-DA and MP3s on CDs. I'm not sure if the restriction applies to audio files from the iPod.
Cindy Wells