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I go into Focus mode and unload shotguns into their faces until they either die or get stunned
Direct hits with frag grenades also work on them, it takes a few hits but they'll go down
While they're stunned, three or four shotgun shells to the face will do them in. I don't really use any other weapons to deal with them, so I don't have a good idea of how long it takes with SMGs or rifles. There's also the DMR, which can work even while the juggernaut isn't stunned, but it's been a while since I've used one for that purpose.
While you should be going for headshots, you can also break their body armor after enough damage (usually happens after I use a bolt launcher), at which point they'll become much like any other enemy, able to be slid into and grabbed.
If you're on Hard or below, you might not have to stun them to kill them, but on higher difficulties the stun is a must. The aim and reaction times of enemies are just so good and the damage is so high that just being in the general vicinity of a juggernaut that can see you is a death sentence. Shotgun-armed enemies are a one-hit-kill on Extreme, and most juggernauts tend to come equipped with a shotgun; I'll let you do the math. You also can't typically manage to shoot the tank on Extreme, as they'll whip around as soon as you squeeze the trigger. Anyhow, on Hard you can mostly get away with walking up to one and unloading a weapon into his helmet, although you'll want to be on high health and armor going into it. The lot of the damage you take will be recouped by the medkit and armor the juggernaut drops.
Armour+health
14+1 Pistol shots
30+9 SMG shots
18+1 Rifle shots
3+0 Shotgun blasts
3-5+0 Grenades from the launcher
4-6+0 bolts from the bolt launcher
2+2 bolts from the penetrator bolt launcher
3+1 DMR shots
15+15 Minigun Shots
Basically just dedicate a whole mag to blasting their face off with focus. If you're out of focus, cloak to hit their gas tank and blast them while they're down. Any weapon can kill them in the time it takes for them to stand back up