A pipe grooving device includes an assembly adapted to receive an end of the pipe. The assembly includes a cup which surrounds a pipe end stop. The cup and the pipe end stop may be mounted on a fixed pinion about which a carriage rotates. The carriage carries geared cams which engage the pinion and rotate synchronously when the carriage rotates relatively the pinion. The cams engage a pipe element received by the cup and form a circumferential groove in the pipe element. The cup and the pipe end stop move independently of one another axially along a pinion shaft to actuate rotation of the carriage. The cup accommodates dimensional pipe diameter tolerances and mitigates pipe flare and maintains pipe roundness during the grooving process.