The drama unfolded in Harmony Close, Hanover Park yesterday, just after 7.30am.
It is believed security guards of a cigarette company were carrying out a delivery when they were ambushed by the gang.
Police say the robbers opened fire on the guards, killing one.
The suspects fled with two firearms and cigarettes.
Police spokesperson, Lieutenant-Colonel Andrè Traut, explains: “Several suspects attacked the security of a cigarette delivery vehicle in Hanover Park.
“One security guard was fatally wounded.
“The suspects fled with two firearms and cigarettes and are yet to be arrested.”