We developed a pitch-catch system based on electromagnetic acoustic transducers (EMATs) for pipe inspection, which moves inside the pipe in the axial direction. The first higher mode, T(0,2), of the torsional guided wave is transmitted and detected, and variations of amplitude and phase are measured while moving the EMATs. Several aluminum pipes containing dish-shaped defects are inspected, and the amplitude and phase show enough detection sensitivity. It is found that the phase measurement has better potential as a tool for quantitative inspection. The applicability of the technique for steel pipe is also confirmed.