This tapestry would appear to be part of a series depicting the story of Venus

See Catalogo de Tapices del Patrimonio Nacional, Madrid, 1986, vol. II, p. 260 for another, smaller, version of this tapestry in the Royal palace, Madrid. The Madrid example is lacking the figure of Venus and the right-hand side of the composition, and has different borders. The border has the legend AD. STYGIAS M LYMPHAS DEMITTIT ADONIS.