How do I use the tool?

Enable the mod, then see the pipe icon near your tool belt. This is where the "surface" and "enable personal roboport" buttons appear.

I'm really confused!

No doubt because I didn't share a video. Try this: find that Pipe button, press it. Click and hold the left mouse button on the ground and drag the mouse around. If you let go, a pipe appears. Try pressing R or G while the mouse button is down, and keep dragging.

This is just like normal pipes!

You're probably placing normal pipes then. Find the pipe icon to the right of your tool belt. It has a grey background.