I have been using a domestic machine, with a smaller harp than yours, on a quilt frame . Of course my quilting area is greatly limited. I have done free hand meandering and I have purchased a board with groves in it that you use with a stylus and quilt from the back. I've attached photos of two quilts. The first was free hand meander and the second was done with the grove board I purchased from rns-design.com - great people and very helpful!
The attached photos are both baby quilts but I have done up to queen size on my small machine.