I had a Juki Tl2010Q machine on a Grace Q-Zone Hoop Frame for almost three years before last spring upgrading to the Qnique 15 Pro. Both the Juki Tl2000QI and 2010Q are straight stitch only machines and can be used both on and off a quilt frame. They do have feed dogs and you can adjust the pressure foot tension on them for free motion or regular sewing. It does come with a free motion quilting foot as well. When I was first using mine on the quilt frame with a regular 90/14 needle, I was getting some skipped stitches. So I started using Schmetz Stepp-Nadel Quilting Needles in size 90/14 and no problems afterwards. Depending on the type and weight of thread you use, you may have to adjust the top tension knob. Even though I upgraded to a larger machine for the Q-Zone Hoop Frame, I still have my Juki and use it for general sewing, binding, hanging sleeves, and even cloth dollmaking.
Happy Quilting. Hugs Kathryn