If you can lower your feed dogs, and remove your presser foot (or preferably replace it with an embroidery foot), you should be able to do free motion work.
Drop or cover your feed dogs (teeth under the needle). Use an embroidery or darning foot. Set stitch length to zero. Put fabric in hoop. Move hoop steadily under needle.
It depends on the machine. First you need to either be able to drop or have a cover for the feed dogs. Second see if the manufacture of your machine sells an embrodiery or darning foot. You can do it without changing the foot, but in that case you need to be able to adjust the presser foot tension.